本文選題：虛擬環(huán)境　切入點(diǎn)：主動(dòng)輔助控制　出處：《華東理工大學(xué)》2017年碩士論文

【摘要】：腦卒中(俗稱(chēng)"中風(fēng)")作為一種致殘率極高的神經(jīng)類(lèi)疾病,嚴(yán)重影響了人們的身體健康和正常生活,正規(guī)的、有規(guī)律的、合理化的康復(fù)訓(xùn)練可以良好地促進(jìn)癱瘓肢體的功能恢復(fù)。傳統(tǒng)的物理康復(fù)治療指患者在醫(yī)生或?qū)I(yè)治療師的協(xié)助下進(jìn)行大量重復(fù)性的肢體運(yùn)動(dòng),通過(guò)刺激受損腦神經(jīng)促進(jìn)恢復(fù),但是具有成本高、效率低等缺點(diǎn)。隨著康復(fù)機(jī)器人技術(shù)和虛擬現(xiàn)實(shí)技術(shù)的迅速發(fā)展,觸覺(jué)交互系統(tǒng)己經(jīng)廣泛應(yīng)用于中風(fēng)病人肢體功能康復(fù)的臨床治療過(guò)程中,它不僅可以模擬虛擬訓(xùn)練場(chǎng)景,創(chuàng)造良好的沉浸感,極大地調(diào)動(dòng)患者的訓(xùn)練積極性,改善訓(xùn)練效果,還能夠?qū)⑨t(yī)生從醫(yī)患一對(duì)一繁重的運(yùn)動(dòng)輔助及體力勞動(dòng)中解放出來(lái),量化運(yùn)動(dòng)任務(wù)和刺激,量化檢測(cè)和評(píng)價(jià)手段。為了建立觸覺(jué)交互系統(tǒng),需要完成以下兩個(gè)具體目標(biāo):(1)創(chuàng)建虛擬環(huán)境,設(shè)計(jì)訓(xùn)練任務(wù);(2)基于觸覺(jué)設(shè)備Phantom Omni,設(shè)計(jì)主動(dòng)控制系統(tǒng),輔助中風(fēng)病人完成康復(fù)訓(xùn)練。本論文為了實(shí)現(xiàn)上述目標(biāo),主要做了以下四項(xiàng)工作:(1)利用H3D交互軟件創(chuàng)建虛擬環(huán)境,設(shè)計(jì)軌跡圓跟蹤虛擬訓(xùn)練任務(wù);(2)對(duì)人機(jī)交互系統(tǒng)(Human-MachineSystem)進(jìn)行運(yùn)動(dòng)學(xué)和靜力學(xué)的定量分析;(3)基于運(yùn)動(dòng)學(xué)和靜力學(xué)分析,制定位置和力反饋控制方案,實(shí)現(xiàn)運(yùn)動(dòng)誤差的實(shí)時(shí)跟蹤控制;(4)設(shè)計(jì)實(shí)驗(yàn)方案,驗(yàn)證主動(dòng)輔助康復(fù)控制系統(tǒng)的有效性。本文通過(guò)上述工作,得到以下結(jié)論:(1)虛擬現(xiàn)實(shí)系統(tǒng)有助于提高患者康復(fù)訓(xùn)練過(guò)程中的積極性;(2)通過(guò)評(píng)估實(shí)驗(yàn)并對(duì)結(jié)果采用配對(duì)T檢驗(yàn),驗(yàn)證了觸覺(jué)交互系統(tǒng)對(duì)中風(fēng)病人上肢康復(fù)訓(xùn)練是有效的。本論文的主要貢獻(xiàn)在于:(1)綜合考慮用戶(hù)環(huán)境對(duì)交互設(shè)備的影響,實(shí)現(xiàn)觸覺(jué)交互系統(tǒng)動(dòng)態(tài)模型的定量分析;(2)針對(duì)觸覺(jué)交互設(shè)備沒(méi)有力傳感器的特點(diǎn),采用阻抗控制方案實(shí)現(xiàn)了力反饋控制。
[Abstract]:Stroke (commonly known as "stroke") as a very high rate of disability of nerve diseases, seriously affected people's physical health and normal life, regular, regular, Rational rehabilitation training can well promote the functional recovery of paralyzed limbs. Traditional physical rehabilitation therapy refers to a patient who, with the assistance of a doctor or professional therapist, carries out a large number of repetitive limb movements to promote recovery by stimulating the damaged brain nerve. With the rapid development of rehabilitation robot technology and virtual reality technology, tactile interaction system has been widely used in the clinical treatment of limb functional rehabilitation of stroke patients. It can not only simulate the virtual training scene, create a good sense of immersion, greatly mobilize the training enthusiasm of patients, improve the training effect, but also free doctors from the doctor to patient one-to-one heavy exercise assistance and physical labor. In order to establish tactile interaction system, we need to complete the following two specific targets: 1) create virtual environment, design training task 2) Design active control system based on tactile device Phantom Omni. In order to achieve the above goal, this thesis mainly did the following four tasks: 1) creating virtual environment by using H3D interactive software. The virtual training task of trajectory circle tracking is designed to carry out the quantitative analysis of kinematics and statics for Human-Machine system (Human-Machine system). Based on kinematics and statics analysis, the position and force feedback control scheme is formulated. The experimental scheme is designed to verify the effectiveness of the active auxiliary rehabilitation control system. The following conclusions are drawn: 1) the virtual reality system helps to improve the enthusiasm of patients during rehabilitation training) by evaluating the experiment and using paired T test to test the results. The results show that tactile interaction system is effective for the rehabilitation of upper limbs of stroke patients. The main contribution of this paper is to consider the influence of user environment on the interactive equipment. The quantitative analysis of dynamic model of tactile interaction system is realized. Aiming at the fact that there is no force sensor in tactile interactive equipment, the impedance control scheme is adopted to realize force feedback control.
【學(xué)位授予單位】：華東理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類(lèi)號(hào)】：R743.3;TP391.9

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本文編號(hào)：1663083