本文選題：加速度計(jì) + 下肢康復(fù)機(jī)器人��； 參考：《燕山大學(xué)》2015年碩士論文

【摘要】：目前,我國肢體殘障患者眾多,康復(fù)醫(yī)學(xué)理論證明,對這些患者進(jìn)行科學(xué)的、系統(tǒng)的康復(fù)訓(xùn)練,能有效地恢復(fù)與提高其肢體的運(yùn)動(dòng)功能。傳統(tǒng)的人工康復(fù)訓(xùn)練與機(jī)器人康復(fù)訓(xùn)練各有利弊,只有將康復(fù)治療人員的臨床經(jīng)驗(yàn)與康復(fù)機(jī)器人的康復(fù)訓(xùn)練相結(jié)合,才能提供有效、穩(wěn)定、重復(fù)性好的訓(xùn)練方法,而且能夠量化訓(xùn)練參數(shù),從而用于制定科學(xué)的、最優(yōu)的康復(fù)訓(xùn)練計(jì)劃,提高訓(xùn)練效率。本課題研究了基于加速度計(jì)的人體下肢運(yùn)動(dòng)信息采集方法,并研制了相關(guān)的無線數(shù)據(jù)采集系統(tǒng)。該無線數(shù)據(jù)采集系統(tǒng)可以記錄康復(fù)治療人員的臨床訓(xùn)練過程,用于康復(fù)機(jī)器人的示教訓(xùn)練。首先,在人體矢狀面內(nèi)建立了人體單側(cè)下肢運(yùn)動(dòng)模型。采用遞推的牛頓-歐拉方法,基于ADXL345建立了加速度數(shù)據(jù)與關(guān)節(jié)角度之間的數(shù)學(xué)關(guān)系。采用Denavit和Hartenberg提出的“D-H法”對該模型的運(yùn)動(dòng)學(xué)進(jìn)行了理論分析,建立關(guān)節(jié)角度與末端運(yùn)動(dòng)軌跡的關(guān)系。其次,研制了無線數(shù)據(jù)采集系統(tǒng)硬件電路,并對各模塊電路原理進(jìn)行了分析介紹。系統(tǒng)闡述了串口通信模塊、加速度計(jì)模塊、無線數(shù)據(jù)通信模塊和主從系統(tǒng)控制單元模塊等四部分的下位機(jī)軟件設(shè)計(jì),并利用串口助手對下位機(jī)軟件程序進(jìn)行了調(diào)試。最后,采用Lab VIEW軟件完成了上位機(jī)軟件的編寫,介紹了軟件開發(fā)的用戶界面和操作流程。進(jìn)行了無線數(shù)據(jù)采集系統(tǒng)靜態(tài)測量誤差分析實(shí)驗(yàn)、系統(tǒng)標(biāo)定實(shí)驗(yàn)、下肢末端軌跡測量實(shí)驗(yàn)以及下肢康復(fù)機(jī)器人示教訓(xùn)練實(shí)驗(yàn),驗(yàn)證了采用本文所述無線數(shù)據(jù)采集系統(tǒng)進(jìn)行下肢康復(fù)機(jī)器人示教訓(xùn)練的可行性。
[Abstract]:At present, there are many patients with physical disability in China. The theory of rehabilitation medicine proves that scientific and systematic rehabilitation training for these patients can effectively restore and improve the motor function of their limbs. Traditional artificial rehabilitation training and robot rehabilitation training have their own advantages and disadvantages. Only by combining the clinical experience of rehabilitation therapists with rehabilitation training of rehabilitation robots can effective, stable and reproducible training methods be provided. Moreover, the training parameters can be quantified to make scientific and optimal rehabilitation training plan and improve training efficiency. In this paper, the method of collecting human lower limb motion information based on accelerometer is studied, and a wireless data acquisition system is developed. The wireless data acquisition system can record the clinical training process of rehabilitation treatment personnel and be used for the training of rehabilitation robot. First of all, in the sagittal plane of the human body, a unilateral lower limb motion model was established. The mathematical relationship between acceleration data and joint angle is established based on ADXL345 using the recursive Newton-Euler method. The kinematics of the model is theoretically analyzed by using D-H method proposed by Denavit and Hartenberg, and the relationship between the angle of joint and the trajectory of terminal motion is established. Secondly, the hardware circuit of wireless data acquisition system is developed, and the circuit principle of each module is analyzed. The software design of serial port communication module, accelerometer module, wireless data communication module and master-slave system control unit module is introduced, and the software program of lower computer is debugged by serial port assistant. Finally, Lab VIEW software is used to write the host computer software, and the user interface and operation flow of the software development are introduced. The static error analysis experiment, system calibration experiment, lower extremity terminal trajectory measurement experiment and lower limb rehabilitation robot teaching and training experiment were carried out in wireless data acquisition system. The feasibility of using the wireless data acquisition system described in this paper to teach and train the lower limb rehabilitation robot is verified.
【學(xué)位授予單位】：燕山大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：R496;TP242

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本文編號：1782629