本文關鍵詞： 下肢康復 人機工程學 間斷性牽引法 力閉環(huán)控制 電動推桿　出處：《大連理工大學》2015年碩士論文　論文類型：學位論文

【摘要】：在我國,由于老齡化人口迅速增多,一些老年病如腦溢血、高血壓等隨之增加,而由腦溢血引起的偏癱則成為了當代康復醫(yī)學的難題。目前臨床康復已取得了一定成果,但是大部分康復中心采用外骨骼式康復機器人對患肢進行康復。外骨骼式有其先天優(yōu)勢,即可以模擬人體正常行走時的步態(tài)進行康復治療,使患者恢復行走能力。但是痙攣期病人關節(jié)活動度很小,患肢基本處于繃直狀態(tài),如果康復時運動角度超過病人許用安全角度,則很容易造成二次拉傷�；诖朔N思想,本文將設計一款新型下肢肌痙攣康復裝置,以滿足患者痙攣期的需要。本文首先對偏癱引起下肢肌痙攣的病理進行了研究,了解下肢結構和運動機理,總結了臨床上的主要康復方法。分析外骨骼式的康復方法優(yōu)缺點,基于神經(jīng)可修復理論,提出一種新型康復方案——間斷性牽引法,采用新型控制策略——力閉環(huán)控制,代替外骨骼式的PVT控制模式。在機構設計方面,查找人體相關參數(shù),依據(jù)人機工程學理論,使人機之間達到最佳適應性。整體采用可升降座椅式設計,電動推桿作為驅動,具有兩個關鍵自由度,驅動膝、踝兩關節(jié)；座椅靠背在0～83°范圍內(nèi)可調(diào),保證患者的舒適度�？紤]到康復模式和受力情況,還需要對裝置進行運動學和應力應變仿真。傳感器系統(tǒng)則采用拉壓力傳感器和絕對式編碼器,采集力信號和角度信號反饋給控制系統(tǒng),并作為評價指標實時顯示在屏幕上,用于評估康復進程。然后編寫控制流程圖,為編輯程序做準備。另外,患者的安全性需要保證,除了機械裝置自身限位功能之外,還要設計急停斷電按鈕,如果超過安全角度則立刻斷電。本文所設計的康復裝置是針對痙攣期病人的被動康復治療,因為此階段治療最困難、最復雜也是最重要的,而當前市場中的外骨骼基本是貫穿整個治療過程,沒有痙攣期的針對性治療,故此康復裝置的應用前景是十分廣泛的。
[Abstract]:In China, due to the rapid increase of the aging population, some senile diseases such as cerebral hemorrhage, hypertension and so on have increased, while hemiplegia caused by cerebral hemorrhage has become a difficult problem in modern rehabilitation medicine. At present, some achievements have been made in clinical rehabilitation. But most rehabilitation centers use exoskeleton rehabilitation robots to rehabilitate the affected limbs. Exoskeleton has its innate advantage, that is, it can simulate the human body's gait while walking normally. But during the spastic period, the patient's joint motion is very small, the affected limb is basically in a strained state, and if the angle of movement is higher than the patient's safe angle during rehabilitation, it is easy to cause a secondary strain. In this paper, a new rehabilitation device for lower extremity muscle spasm was designed to meet the needs of patients during spasticity. Firstly, the pathology of lower extremity spasm caused by hemiplegia was studied in order to understand the structure and movement mechanism of lower extremity. This paper summarizes the main clinical rehabilitation methods, analyzes the advantages and disadvantages of exoskeleton rehabilitation methods, and based on the theory of nerve repairable, puts forward a new rehabilitation scheme-intermittent traction method, and adopts a new control strategy-force closed loop control. Instead of exoskeleton PVT control mode. In the aspect of mechanism design, find the related parameters of human body, according to the theory of ergonomics, make the best adaptability between man and machine. It has two key degrees of freedom, driving the knee and ankle joints, and the back of the seat is adjustable in the range of 0 擄83 擄to ensure the patient's comfort. It is also necessary to simulate the kinematics and stress and strain of the device. The sensor system adopts tension and pressure sensors and absolute encoders to collect the force signals and angle signals to the control system and display them on the screen as an evaluation index in real time. To evaluate the rehabilitation process. Then write a control flow chart to prepare for editing the program. In addition, the patient's safety needs to ensure that in addition to the mechanical device's own limit function, but also the design of emergency power off button, The rehabilitation device designed in this paper is passive rehabilitation for spastic patients because it is the most difficult, the most complex, and the most important. The exoskeleton in the current market basically runs through the whole treatment process, and there is no targeted therapy in the spasmodic period, so the application prospect of the rehabilitation device is very extensive.
【學位授予單位】：大連理工大學
【學位級別】：碩士
【學位授予年份】：2015
【分類號】：R496

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本文編號：1522558