發(fā)布時(shí)間：2018-05-03 15:42

  本文選題：康復(fù)步行訓(xùn)練機(jī)器人 + 方向意圖識(shí)別��； 參考：《沈陽工業(yè)大學(xué)》2017年碩士論文

【摘要】：當(dāng)今社會(huì)由于人口老齡化、交通事故、運(yùn)動(dòng)損傷或者腦疾病等原因?qū)е孪轮\(yùn)動(dòng)功能障礙患者顯著增加,造成我國出現(xiàn)護(hù)理資源嚴(yán)重短缺的情況。由于醫(yī)療條件不足,患者不能得到有效治療,導(dǎo)致其生活質(zhì)量急劇下降,同時(shí)給患者的家庭和社會(huì)帶來了沉重的負(fù)擔(dān)。在此背景下,研究能夠有效幫助患者恢復(fù)步行能力及提供步行支持的康復(fù)步行訓(xùn)練機(jī)器人是十分必要的。在康復(fù)治療的后期階段,主要有主動(dòng)訓(xùn)練和被動(dòng)訓(xùn)練兩種方式。相較于被動(dòng)訓(xùn)練而言,主動(dòng)訓(xùn)練方式參與性更強(qiáng),容易引起患者的訓(xùn)練興趣,更能提高患者的運(yùn)動(dòng)感知能力和肌肉控制力。為了提高康復(fù)機(jī)器人的可操作性,激發(fā)患者參與主動(dòng)訓(xùn)練的興趣,文章提出了一種通過采集患者的前臂對康復(fù)機(jī)器人的壓力數(shù)據(jù)識(shí)別其運(yùn)動(dòng)意圖的方法。文章主要內(nèi)容如下:建立了康復(fù)機(jī)器人的運(yùn)動(dòng)學(xué)模型。通過實(shí)驗(yàn)研究了在運(yùn)動(dòng)狀態(tài)下前臂壓力的合力與方向意圖之間的對應(yīng)關(guān)系。通過實(shí)驗(yàn)采集了實(shí)驗(yàn)對象在運(yùn)動(dòng)過程中的前臂壓力數(shù)據(jù),并利用該數(shù)據(jù)建立了表達(dá)前臂壓力與方向意圖之間關(guān)系的模糊規(guī)則�；谀：窭嗜詹逯低评矸ㄓ赡骋粫r(shí)刻的前臂壓力數(shù)據(jù)推理得到該時(shí)刻患者的方向意圖。最后在仿真實(shí)驗(yàn)中將運(yùn)動(dòng)方向與識(shí)別方向進(jìn)行對比,驗(yàn)證了該方法的可行性。提出了速度意圖與前臂壓力的合力的比例關(guān)系。研究了實(shí)驗(yàn)對象推動(dòng)康復(fù)機(jī)器人向不同方向運(yùn)動(dòng)的過程中手腕、肘部的施力特征�？紤]到個(gè)體差異與方向意圖等因素的影響,提出了一種比例變化的速度意圖識(shí)別方法,并在仿真實(shí)驗(yàn)中將運(yùn)動(dòng)速度與識(shí)別速度進(jìn)行對比,驗(yàn)證了方法的可行性。
[Abstract]:Nowadays, due to the aging of population, traffic accidents, sports injuries or brain diseases, the number of patients with lower extremity motor dysfunction has increased significantly, resulting in a serious shortage of nursing resources in China. Due to insufficient medical conditions, patients can not get effective treatment, leading to a sharp decline in their quality of life, and at the same time bring a heavy burden to the patients' families and society. In this context, it is necessary to study a rehabilitation walking training robot which can effectively help patients recover their walking ability and provide walking support. In the later stage of rehabilitation, there are two main ways of active training and passive training. Compared with passive training, active training is more participatory, which can easily arouse patients' training interest and improve patients' motor perception and muscle control. In order to improve the maneuverability of rehabilitation robot and stimulate the interest of patients to participate in active training, this paper presents a method for recognizing the intention of rehabilitation robot by collecting the pressure data of the forearm of the patient. The main contents of this paper are as follows: the kinematics model of rehabilitation robot is established. The relationship between the resultant force of the forearm pressure and the directional intention is studied experimentally. The data of forearm pressure in moving process were collected and the fuzzy rules were established to express the relationship between forearm pressure and directional intention. Based on the fuzzy Lagrangian interpolation method, the direction intention of the patient at a certain time is deduced from the pressure-data of the forearm at a certain time. Finally, the feasibility of the method is verified by comparing the motion direction with the recognition direction in the simulation experiment. The proportional relationship between velocity intention and forearm pressure is proposed. The force characteristics of wrist and elbow in the process of moving the rehabilitation robot in different directions were studied. Considering the influence of individual difference and direction intention, a speed intention recognition method with proportional variation is proposed, and the feasibility of the method is verified by comparing the velocity of motion with the speed of recognition in the simulation experiment.
【學(xué)位授予單位】：沈陽工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242

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