本文選題：康復(fù)機(jī)器人　切入點(diǎn)：穿戴式　出處：《華中科技大學(xué)》2016年碩士論文　論文類型：學(xué)位論文

【摘要】：腦卒中是老齡化社會(huì)中最為常見的疾病之一。腦卒中后引發(fā)的運(yùn)動(dòng)功能障礙使得患者成為了社會(huì)和家庭的沉重負(fù)擔(dān)。目前,引進(jìn)康復(fù)機(jī)器人對(duì)偏癱患者進(jìn)行康復(fù)訓(xùn)練從而使患者恢復(fù)部分運(yùn)動(dòng)能力已經(jīng)成為了一種趨勢(shì)。然而大多數(shù)醫(yī)院的康復(fù)設(shè)備笨重、無法移動(dòng),患者訓(xùn)練時(shí)感到不舒適,參與性不高,因此康復(fù)效果不理想�；诖�,本文提出了一種基于虛擬現(xiàn)實(shí)的氣動(dòng)外骨骼上肢康復(fù)機(jī)器人,并對(duì)其控制策略進(jìn)行了研究。根據(jù)偏癱患者的康復(fù)需求和康復(fù)醫(yī)學(xué)理論,本文設(shè)計(jì)了一種氣動(dòng)外骨骼上肢康復(fù)機(jī)器人,并介紹了其機(jī)械結(jié)構(gòu)設(shè)計(jì)、控制系統(tǒng)設(shè)計(jì)以及工作原理。然后搭建氣動(dòng)肌肉特性實(shí)驗(yàn)平臺(tái)對(duì)其等長特性和等壓特性進(jìn)行了研究,并建立了氣動(dòng)肌肉的靜態(tài)模型。隨后,基于氣動(dòng)肌肉模型對(duì)雙向?qū)P(guān)節(jié)驅(qū)動(dòng)進(jìn)行了建模和實(shí)驗(yàn),實(shí)驗(yàn)結(jié)果證明了模型的有效性。為了提高康復(fù)機(jī)器人的控制效果,本文討論了PID控制并在其基礎(chǔ)上提出了模糊PID控制算法,實(shí)驗(yàn)結(jié)果證明了模糊PID算法的精確度和穩(wěn)定性。基于患者對(duì)與安全性和舒適性的要求,我們引進(jìn)了滑模代理控制(PSMC)。該控制具有抗干擾的能力,并將其經(jīng)擾動(dòng)后的控制效果與傳統(tǒng)控制進(jìn)行了對(duì)比。最后,介紹了為提高康復(fù)訓(xùn)練效果而配套研制的虛擬現(xiàn)實(shí)平臺(tái)。該平臺(tái)的虛擬現(xiàn)實(shí)環(huán)境在Panda3D環(huán)境下研發(fā),搭載了眼動(dòng)儀配合使用�？祻�(fù)機(jī)器人與虛擬現(xiàn)實(shí)平臺(tái)結(jié)合起來,通過眼動(dòng)儀實(shí)現(xiàn)了患者的主動(dòng)意圖,通過虛擬現(xiàn)實(shí)環(huán)境為治療師和患者反饋康復(fù)訓(xùn)練效果,從而提高患者的積極性,增強(qiáng)康復(fù)訓(xùn)練的效果。
[Abstract]:Stroke is one of the most common diseases in an aging society. Motor dysfunction after stroke makes patients a heavy burden on society and families. It has become a trend to introduce rehabilitation robots to rehabilitate hemiplegic patients so that they can recover some of their motor abilities. However, most hospitals have heavy, immobile rehabilitation equipment, and the patients feel uncomfortable during training. This paper presents a pneumatic exoskeleton upper limb rehabilitation robot based on virtual reality. According to the rehabilitation needs of hemiplegic patients and the theory of rehabilitation medicine, a kind of pneumatic exoskeleton upper limb rehabilitation robot is designed, and its mechanical structure design is introduced. Control system design and working principle. Then, the isometric and isobaric characteristics of Pneumatic muscle were studied on a pneumatic muscle experimental platform, and the static model of Pneumatic muscle was established. Based on the pneumatic muscle model, the bidirectional pull joint drive is modeled and experimented. The experimental results show that the model is effective. In order to improve the control effect of the rehabilitative robot, In this paper, the PID control is discussed and a fuzzy PID control algorithm is proposed. The experimental results show that the fuzzy PID algorithm is accurate and stable, based on the patient's requirements for safety and comfort. We have introduced the sliding mode agent control (PSMCN). The control has the ability of anti-interference, and the control effect after disturbance is compared with the traditional control. This paper introduces the virtual reality platform developed in order to improve the effect of rehabilitation training. The virtual reality environment of the platform is developed under the environment of Panda3D, and the eye movement instrument is used together. The rehabilitation robot is combined with the virtual reality platform. The active intention of patients was realized by eye movement instrument, and the effect of rehabilitation training was feedback by virtual reality environment for therapists and patients, so as to improve the enthusiasm of patients and enhance the effect of rehabilitation training.
【學(xué)位授予單位】：華中科技大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2016
【分類號(hào)】：TP242;TP391.9

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本文編號(hào)：1567475