本文關(guān)鍵詞： 上肢康復(fù) 4-RRRR 肩關(guān)節(jié)機(jī)構(gòu) 保護(hù)裝置　出處：《廣東工業(yè)大學(xué)》2015年碩士論文　論文類型：學(xué)位論文

【摘要】：隨著社會(huì)經(jīng)濟(jì)的發(fā)展和醫(yī)學(xué)科學(xué)的進(jìn)步,腦卒中等傷病患者的死亡率明顯下降,而留有后遺癥和功能障礙的病人逐漸增多。同時(shí)人口老齡化進(jìn)程加速也使老年性疾病和慢性病的發(fā)病率急劇上升,順應(yīng)這一趨勢人們對(duì)醫(yī)療服務(wù)的要求不再局限于急救水平的高低,轉(zhuǎn)而更為重視功能的恢復(fù)。多數(shù)偏癱患者都需要一個(gè)系統(tǒng)、有序、連續(xù)且長期的康復(fù)過程,開發(fā)研究適合社區(qū)以及家用的上肢康復(fù)醫(yī)療設(shè)備成為了當(dāng)前急需解決的問題。對(duì)于康復(fù)設(shè)備最重要的是安全性,本文的研究目的是開發(fā)一種肩關(guān)節(jié)康復(fù)訓(xùn)練設(shè)備及保護(hù)裝置。本文首先調(diào)研分析了康復(fù)在醫(yī)學(xué)上的理論依據(jù),包括腦重塑理論和運(yùn)動(dòng)再學(xué)習(xí)理論,從人體仿生機(jī)理出發(fā),為康復(fù)機(jī)器人設(shè)計(jì)了一種4-RRRR肩關(guān)節(jié)機(jī)構(gòu)。該肩關(guān)節(jié)機(jī)構(gòu)設(shè)計(jì)應(yīng)用于外骨骼上肢康復(fù)機(jī)器人,具有與人體肩關(guān)節(jié)相一致的活動(dòng)空間。驅(qū)動(dòng)方式選擇為氣動(dòng)人工肌肉,氣動(dòng)人工肌肉是一種體積小巧、柔軟、重量輕、工作簡單、容易控制的仿生學(xué)產(chǎn)品,它由壓縮空氣驅(qū)動(dòng)作推拉動(dòng)作,其過程就像人體的肌肉運(yùn)動(dòng)。使機(jī)構(gòu)運(yùn)動(dòng)具有良好的柔順性,提高患者使用的舒適程度。由于氣動(dòng)人工肌肉運(yùn)動(dòng)的非線性導(dǎo)致肩關(guān)節(jié)機(jī)構(gòu)的運(yùn)動(dòng)范圍難以精確控制,對(duì)于醫(yī)療康復(fù)機(jī)器人而言最重要的是安全性。本文為4-RRRR肩關(guān)節(jié)機(jī)構(gòu)設(shè)計(jì)了獨(dú)立的保護(hù)裝置,裝置的所有桿件零件均組裝在箱體之中使過量保護(hù)裝置外觀簡潔,方便安裝。氣動(dòng)人工肌肉驅(qū)動(dòng)為肩關(guān)節(jié)機(jī)構(gòu)提供了柔性的運(yùn)動(dòng),剛性的過量保護(hù)裝置可以精確的控制肩關(guān)節(jié)機(jī)構(gòu)的活動(dòng)范圍,軟件和硬件兩方面的安全措施防止對(duì)患者造成二次傷害。為了直觀的分析機(jī)構(gòu)的運(yùn)動(dòng)效果同時(shí)防止因多次加工樣機(jī)造成資源的浪費(fèi),本文最后在SolidWorks中進(jìn)行了完整的三維模型的構(gòu)建,并裝配為虛擬樣機(jī)。使用SolidWlorks Motion插件對(duì)機(jī)構(gòu)進(jìn)行運(yùn)動(dòng)仿真,參照康復(fù)醫(yī)師訓(xùn)練方案將仿真分為單輸入、雙輸入和復(fù)合運(yùn)動(dòng)三種情況,馬達(dá)曲線采用數(shù)據(jù)點(diǎn)擬合模擬氣動(dòng)人工肌肉的非線性輸入,最后輸出運(yùn)動(dòng)數(shù)據(jù)和運(yùn)動(dòng)仿真動(dòng)畫。將運(yùn)動(dòng)數(shù)據(jù)與人體肩關(guān)節(jié)數(shù)據(jù)相對(duì)比,機(jī)構(gòu)運(yùn)動(dòng)范圍與人體肩關(guān)節(jié)運(yùn)動(dòng)范圍一致。仿真動(dòng)畫直觀的展示運(yùn)動(dòng)效果,機(jī)構(gòu)運(yùn)動(dòng)具有良好的運(yùn)動(dòng)柔順性。
[Abstract]:With the development of social economy and the progress of medical science, the mortality rate of patients with stroke and other injuries has decreased significantly. The number of patients with sequelae and dysfunction is increasing. Meanwhile, the accelerated aging of the population also leads to a sharp increase in the incidence of senile diseases and chronic diseases. To comply with this trend, the demand for medical services is no longer limited to the level of first aid, but more attention to functional recovery. Most hemiplegic patients need a systematic, orderly, continuous and long-term rehabilitation process. Developing and researching upper limb rehabilitation medical equipment suitable for community and household has become an urgent problem at present. The most important thing for rehabilitation equipment is safety. The purpose of this paper is to develop a kind of shoulder rehabilitation training equipment and protective device. Firstly, this paper investigates and analyzes the theoretical basis of rehabilitation in medicine, including brain remodeling theory and motor re-learning theory. Based on the biomimetic mechanism of human body, a 4-RRRR shoulder joint mechanism was designed for the rehabilitation robot, which was applied to the exoskeleton upper limb rehabilitation robot. Pneumatic artificial muscle is a bionic product with small volume, soft, light weight, simple work and easy control. It is driven by compressed air for push-pull action, its process is like the muscle movement of the human body. Because of the nonlinear movement of pneumatic artificial muscle, the range of motion of shoulder joint mechanism is difficult to control accurately. Safety is the most important thing for medical rehabilitation robot. In this paper, an independent protection device is designed for 4-RRRR shoulder joint mechanism. All the member parts of the device are assembled in the box to make the over-protective device simple and easy to install. The pneumatic artificial muscle drive provides flexible motion for the shoulder joint mechanism. Rigid overprotective device can accurately control the range of motion of the shoulder joint mechanism. Software and hardware safety measures to prevent secondary injury to patients. In order to intuitively analyze the movement effect of the mechanism and prevent the waste of resources caused by multiple prototyping. At the end of this paper, a complete 3D model is constructed in SolidWorks. SolidWlorks Motion plug-in is used to simulate the movement of the mechanism, and the simulation is divided into single input according to the training plan of rehabilitation doctors. In the case of double input and compound motion, the nonlinear input of pneumatic artificial muscle is simulated by the data point fitting of the motor curve. Finally, we output motion data and motion simulation animation. Compare motion data with human shoulder joint data, the range of mechanism motion is consistent with human shoulder motion range. Simulation animation intuitively shows the effect of motion. The mechanism motion has the good movement compliance.
【學(xué)位授予單位】：廣東工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2015
【分類號(hào)】：TH789

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本文編號(hào)：1488036