發(fā)布時(shí)間：2019-01-05 05:42

【摘要】：對于由脊髓損傷或腦卒中等疾病所造成癱瘓的病人而言,運(yùn)動(dòng)康復(fù)治療非常重要,可以促進(jìn)中樞神經(jīng)系統(tǒng)的可塑性修復(fù)。目前,高級的運(yùn)動(dòng)康復(fù)系統(tǒng)主要分為兩種,即功能性電刺激和外骨骼康復(fù)機(jī)器人。雖然功能性電刺激和外骨骼康復(fù)機(jī)器人在運(yùn)動(dòng)康復(fù)領(lǐng)域都有成功的應(yīng)用實(shí)例,并且兩者都有一些商業(yè)化的產(chǎn)品,但是兩者固有的一些缺陷使其難以達(dá)到滿意的康復(fù)效果。近年來,融合這兩種技術(shù)的混合式康復(fù)系統(tǒng)逐漸成為康復(fù)工程領(lǐng)域研究的熱點(diǎn)。本文針對下肢混合式康復(fù)系統(tǒng)的應(yīng)用要求,提出了協(xié)同控制方法,并通過仿真和實(shí)驗(yàn)的手段進(jìn)行了驗(yàn)證。該協(xié)同控制方法旨在協(xié)調(diào)功能性電刺激和外骨骼機(jī)器人產(chǎn)生力矩的分配。該方法利用中樞模式發(fā)生器(CPG)產(chǎn)生功能性電刺激和外骨骼的運(yùn)動(dòng)參考軌跡,并調(diào)整其相位差來保持兩種輔助技術(shù)相互協(xié)調(diào)。此外,本文還搭建了膝關(guān)節(jié)混合式康復(fù)系統(tǒng)實(shí)驗(yàn)平臺,使用串聯(lián)彈性驅(qū)動(dòng)器實(shí)現(xiàn)了穩(wěn)定的力矩控制�；谠撈脚_,設(shè)計(jì)了合理的實(shí)驗(yàn)范式,在健康受試者和癱瘓患者身上進(jìn)行了評估實(shí)驗(yàn),通過對實(shí)驗(yàn)數(shù)據(jù)進(jìn)行分析表明膝關(guān)節(jié)混合式康復(fù)系統(tǒng)在協(xié)同控制的調(diào)節(jié)下能夠平衡功能性電刺激和外骨骼的輔助作用。針對下肢單自由度和兩自由度的理論仿真和實(shí)驗(yàn)結(jié)果都證明了將功能性電刺激和外骨骼機(jī)器人融合的可行性及優(yōu)越性,為將來的臨床實(shí)驗(yàn)打下了堅(jiān)實(shí)的基礎(chǔ)。
[Abstract]:For patients with paralysis caused by spinal cord injury or stroke, motor rehabilitation is very important and can promote the plasticity of the central nervous system. At present, advanced motor rehabilitation systems are mainly divided into two types, namely functional electrical stimulation and exoskeleton rehabilitation robot. Although both functional electrical stimulation and exoskeleton rehabilitation robots have successful applications in the field of motor rehabilitation and both have some commercial products, some inherent defects of both have made it difficult to achieve satisfactory rehabilitation effects. In recent years, the hybrid rehabilitation system with these two technologies has gradually become a hot spot in the field of rehabilitation engineering. According to the application requirement of lower extremity hybrid rehabilitation system, a collaborative control method is proposed in this paper, which is verified by simulation and experiment. The cooperative control method is designed to coordinate the distribution of torque generated by functional electrical stimulation and exoskeleton robot. In this method, the central mode generator (CPG) is used to generate the functional electrical stimulation and the motion reference trajectory of exoskeleton, and the phase difference is adjusted to maintain the coordination between the two auxiliary technologies. In addition, the experimental platform of hybrid rehabilitation system of knee joint is built, and the stable torque control is realized by using series elastic driver. Based on the platform, a reasonable experimental paradigm was designed to evaluate the healthy subjects and paralyzed patients. The analysis of experimental data shows that the hybrid rehabilitation system of knee joint can balance the function of functional electrical stimulation and exoskeleton. The theoretical simulation and experimental results for the single and two degrees of freedom of the lower extremities have proved the feasibility and superiority of fusion of functional electrical stimulation and exoskeleton robot, which will lay a solid foundation for future clinical experiments.
【學(xué)位授予單位】：上海交通大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：R49;TP242

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本文編號：2401353