【摘要】：隨著社會的發(fā)展和進(jìn)步,肢體殘障尤其是重度肢體殘障患者的生活質(zhì)量越來越受到社會的重視。提高他們的生活質(zhì)量,讓他們更有尊嚴(yán)的生活,成為國家和社會關(guān)注的問題。因此,假肢的開發(fā)和研制成為本領(lǐng)域研究的熱點(diǎn),尤其是仿生手的研究成為其重點(diǎn)方向,并取得有了較大的進(jìn)步。隨之,對于這些仿生手的控制源信號問題也在不斷的探索中。近年來,隨著腦機(jī)接口技術(shù)的發(fā)展和成熟,為那些肌肉損傷和重度癱瘓的患者提供了新的交流手段,患者可以通過腦電信號來控制仿生手的運(yùn)動,以給生活帶來極大的便利。本文在對仿生手及其控制源的研究現(xiàn)狀進(jìn)行深入分析總結(jié)基礎(chǔ)上,對仿生手的結(jié)構(gòu)進(jìn)行了優(yōu)化設(shè)計(jì)、建立模型,并對其性能進(jìn)行了分析,并對其應(yīng)用于腦機(jī)接口技術(shù)下的整個系統(tǒng)進(jìn)行了構(gòu)建及模擬仿真。首先,從仿生角度出發(fā),在以人手的結(jié)構(gòu)和尺寸為設(shè)計(jì)基礎(chǔ)上,對仿生手的結(jié)構(gòu)形式及參數(shù)進(jìn)行優(yōu)化分析,利用有限元分析軟件對仿生手進(jìn)行具體結(jié)構(gòu)的三維建模。包括拇指和食指及其他三根手指的模型,手掌及指根部的三維模型,手指內(nèi)部剖面連動機(jī)構(gòu)的示意模型以及整個仿生手的三維結(jié)構(gòu)模型。其次,對所設(shè)計(jì)及建立的仿生手結(jié)構(gòu)模型進(jìn)行驗(yàn)證性分析,利用有限元分析軟件對手指結(jié)構(gòu)進(jìn)行結(jié)構(gòu)靜力學(xué)分析,優(yōu)化手指指骨厚度,確定指骨厚度為2.5mm。采用D-H參數(shù)表示法,建立動力學(xué)模型,并根據(jù)建立的手掌、拇指、食指坐標(biāo)系,推導(dǎo)出各手指各關(guān)節(jié)末端坐標(biāo)的運(yùn)動學(xué)方程,根據(jù)這些方程,利用MATLAB軟件進(jìn)行拇指、食指的平面及空間運(yùn)動軌跡分析,從而驗(yàn)證了所設(shè)計(jì)仿生手的結(jié)構(gòu)的合理性及尺寸正確性。進(jìn)一步利用ANSYS軟件對仿生手整體運(yùn)動姿態(tài)進(jìn)行了仿真。最后,對仿生手應(yīng)用于腦機(jī)接口系統(tǒng)下的整個應(yīng)用系統(tǒng)在軟件中進(jìn)行了搭建,實(shí)驗(yàn)對大鼠“伸-縮”行為時(shí)產(chǎn)生的腦部神經(jīng)電信號進(jìn)行了采集、檢測、特征提取及信號分類,得出大鼠前肢“伸-縮”行為時(shí)分類的兩類信號,通過控制單元仿真電路模塊對該兩類信號進(jìn)行解碼,解碼得出的兩個指令分別在軟件上進(jìn)行模擬控制仿生手兩指的捏-展動作的運(yùn)動仿真。
文內(nèi)圖片：
圖片說明：圖１－１裝飾性假手逡逑
[Abstract]:With the development and progress of society, the quality of life of people with physical disabilities, especially those with severe physical and mental disabilities, is becoming more and more important. To improve their quality of life and to make them a more dignified life is a matter of national and social concern. Therefore, the development and development of the artificial limb has become the hot spot of the research in this field, especially the research of the bionic hand becomes its focus, and has made great progress. As a result, the control source signal problem for these bionic hand is also in the constant exploration. In recent years, with the development and maturity of the computer interface technology, a new communication means is provided for patients with muscle damage and severe paralysis, and the patient can control the movement of the bionic hand through the electric signal of the brain, so as to bring great convenience to the life. Based on the analysis of the present situation of the bionic hand and its control source, the structure of the bionic hand is optimized, the model is established, the performance is analyzed, and the whole system applied to the interface technology of the brain machine is constructed and simulated. First, based on the structure and size of the human hand, the structure form and the parameters of the bionic hand are optimized and analyzed, and the three-dimensional modeling of the specific structure of the bionic hand is carried out by using the finite element analysis software. Comprises a model of a thumb and an index finger and other three fingers, a three-dimensional model of the palm and the finger root, a schematic model of the internal cross-section linkage mechanism of the finger, and a three-dimensional structural model of the whole bionic hand. Secondly, the design and the established biomimetic hand structure model is analyzed, and the structure and static analysis of the finger structure is carried out by using the finite element analysis software, and the finger phalanx thickness is optimized, and the finger bone thickness is determined to be 2.5 mm. A dynamic model is established by using the D-H parameter representation, and the kinematic equations of the joint end coordinates of each finger are derived according to the established palm, the thumb and the index finger coordinate system. According to the equations, the plane of the thumb and the index finger and the spatial motion track analysis are carried out by using the MATLAB software, So that the rationality and the size correctness of the structure of the designed bionic hand are verified. The whole motion attitude of the bionic hand is simulated by using the ANSYS software. finally, the whole application system applied to the brain machine interface system of the bionic hand is set up in the software, and the brain nerve electrical signals generated in the rat "extension-contraction" behavior are collected, detected, The two types of signals classified by the "extension-contraction" behavior of the forelegs of the rat are obtained. The two kinds of signals are decoded by the control unit simulation circuit module, and the two instructions obtained by the decoding are respectively simulated and controlled on the software to control the motion simulation of the pinch-show action of the bionic hand and the two fingers.
【學(xué)位授予單位】：新鄉(xiāng)醫(yī)學(xué)院
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：TP241;R49

【參考文獻(xiàn)】

相關(guān)期刊論文 前3條

1 何平,金明河,劉宏,謝宗武;機(jī)器人多指靈巧手基關(guān)節(jié)力矩/位置控制系統(tǒng)的研究[J];機(jī)器人;2002年04期

2 張永德,劉廷榮;機(jī)器人多指靈巧手的結(jié)構(gòu)參數(shù)優(yōu)化設(shè)計(jì)[J];機(jī)器人;1999年03期

3 宮可想,周淑秋,常憲平;基于解剖學(xué)的人手肌肉建模技術(shù)[J];微機(jī)發(fā)展;2005年07期

相關(guān)碩士學(xué)位論文 前4條

1 李平;三指靈巧手手指及其抓取運(yùn)動規(guī)劃的研究[D];哈爾濱工程大學(xué);2003年

2 趙山杉;移動機(jī)械手運(yùn)動學(xué)和動力學(xué)分析及仿真[D];河北工業(yè)大學(xué);2006年

3 俞昌東;仿人型殘疾人假手機(jī)構(gòu)和傳感器系統(tǒng)的研究[D];哈爾濱工業(yè)大學(xué);2007年

4 李海鵬;基于BCI的壁虎動物機(jī)器人遙控刺激系統(tǒng)研究[D];南京航空航天大學(xué);2008年

，

本文編號：2510470