本文選題：拇指康復　切入點：外骨骼機器人　出處：《哈爾濱工業(yè)大學》2017年碩士論文　論文類型：學位論文

【摘要】：在臨床上涉及到手指肌腱損傷的患者占到手外傷的一半,肌腱在愈合的過程中會發(fā)生粘連現(xiàn)象,為了減輕肌腱粘連的程度,幫助手指恢復其運動功能,需要對患指進行康復訓練。拇指是人手實現(xiàn)抓握運動功能的關鍵,失去了拇指,手的功能就損失了近40%。因而本課題旨在設計出一款拇指功能康復的機器人以代替理療師完成高強度的康復訓練工作。首先,設計了拇指康復機器人的機械結構本體。對于拇指指間關節(jié)(Interphalangeal Joint,簡稱IP)、掌指關節(jié)(Metacarpal Joint,簡稱MP)的屈曲/伸展采用了背部式的平面導桿機構;腕骨關節(jié)(Carpometacarpal Joint,簡稱CMC)的內收/外展采用了側面式的外骨骼結構,通過兩個可調定位手柄來使外骨骼關節(jié)旋轉軸線與CMC關節(jié)內收/外展的運動軸線重合;采用了鮑登線的傳動方式,實現(xiàn)了動力的遠距離傳輸。此外,建立了機器人的運動學和靜力學模型并進行了仿真分析,驗證了機械結構的可行性。其次,研究了拇指康復機器人的傳感測量系統(tǒng)。針對外骨骼結構空間狹小的問題,設計了一種基于霍爾效應的非接觸式角度傳感器來檢測拇指關節(jié)的轉角;提出了一種基于鮑登線的彈性力矩傳感器用于測量外骨骼關節(jié)驅動力矩的大小;分別搭建了標定實驗平臺,對兩種傳感器進行了靜態(tài)標定。另外為減小鮑登線回差特性引起的誤差,對力矩傳感器的數(shù)學模型進行了修正,提高了力矩測量的準確性。然后,完成了拇指康復機器人控制系統(tǒng)的設計。設計了機器人的底層硬件系統(tǒng),包括傳感信號采集模塊、電機驅動模塊、藍牙通信模塊和供電系統(tǒng)。采用了基于Nios II軟核的可編程片上系統(tǒng)來實現(xiàn)對機器人運動的實時控制;設計并完善了人機交互軟件,實現(xiàn)了機器人康復訓練運動模式切換和運動參數(shù)實時可調的功能。最后,對所研制的拇指康復機器人進行了系統(tǒng)實驗研究。分別對機器人的機械結構、傳感器和控制系統(tǒng)進行了功能驗證。在此基礎之上,進行了正常人手的康復訓練實驗,實驗結果表明所設計的機器人能夠穩(wěn)定可靠地輔助拇指進行康復鍛煉。
[Abstract]:In clinic, the patients with finger tendon injury account for half of hand trauma. Tendon adhesions occur in the process of healing. In order to reduce the degree of tendon adhesion and to help the fingers recover their motor function, The thumb is the key to grip movement by hand, and the thumb is lost. The function of the hand has lost nearly 40%. Therefore, the purpose of this project is to design a robot for the functional rehabilitation of the thumb to replace the physiotherapist to complete the high-intensity rehabilitation training. First of all, The mechanical structure of the thumb rehabilitation robot is designed. For the interphalangeal joint (IPN) of the thumb interphalangeal joint and metacarpal joint for the metacarpal joint of the metacarpophalangeal joint (MP), the back type planar guide rod mechanism is adopted. The adduction / outreaching of Carpometacarpal Joint is a lateral exoskeleton structure. The rotation axis of the exoskeleton joint is overlapped with the axis of the adduction / outreaching of the CMC joint through two adjustable positioning handles. In addition, the kinematics and statics models of the robot are established and the simulation analysis is carried out to verify the feasibility of the mechanical structure. The sensor measurement system of thumb rehabilitation robot is studied. Aiming at the narrow space of exoskeleton, a non-contact angle sensor based on Hall effect is designed to detect the angle of thumb joint. An elastic torque sensor based on Bowden line is proposed to measure the driving moment of exoskeleton joint. In order to reduce the error caused by the return error of Bowden line, the mathematical model of torque sensor is modified to improve the accuracy of torque measurement. The control system of the thumb rehabilitation robot is designed, and the hardware system of the robot is designed, including the sensor signal acquisition module, the motor driving module. Bluetooth communication module and power supply system. The programmable on-chip system based on Nios II soft core is used to realize the real-time control of robot motion, and the human-computer interaction software is designed and perfected. The function of the robot's movement mode switching and the real-time adjustable motion parameters are realized. Finally, a systematic experimental study is carried out on the developed thumb rehabilitation robot, and the mechanical structure of the robot is studied, respectively. The function of the sensor and the control system is verified. On the basis of this, the rehabilitation training experiment of the normal hand is carried out. The experimental results show that the designed robot can assist the thumb in the rehabilitation exercise stably and reliably.
【學位授予單位】：哈爾濱工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP242

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