本文選題：上肢 + 運(yùn)動(dòng)捕捉　； 參考：《寧波大學(xué)》2017年碩士論文

【摘要】：據(jù)2014年人口統(tǒng)計(jì),中國(guó)60歲及以上人口2.12億,隨著中國(guó)人口老齡化的到來(lái),每年有約200萬(wàn)人因腦卒中去世。腦卒中給患者家庭和社會(huì)帶來(lái)巨大損失,康復(fù)機(jī)器人的作用就是幫助腦卒中患者康復(fù)治療;。在康復(fù)機(jī)器人研究領(lǐng)域,多數(shù)研究集中在機(jī)器人系統(tǒng)本身,缺乏對(duì)人體特性和人機(jī)交互過(guò)程的研究,在文獻(xiàn)調(diào)研和上一代機(jī)器人的基礎(chǔ)上,本文開(kāi)展了人體上肢運(yùn)動(dòng)、機(jī)器人的設(shè)計(jì)和人機(jī)交互特性的研究工作。其主要研究?jī)?nèi)容如下:1)依據(jù)運(yùn)動(dòng)捕捉技術(shù),應(yīng)用搭建的運(yùn)動(dòng)捕捉系統(tǒng)完成人體上肢運(yùn)動(dòng)數(shù)據(jù)的采集,獲取人體上肢日常生活動(dòng)作的相關(guān)數(shù)據(jù)。經(jīng)過(guò)數(shù)據(jù)處理和分析,研究人體日�；顒�(dòng)的上肢關(guān)節(jié)運(yùn)動(dòng)規(guī)律。2)根據(jù)人體生物力學(xué)和上肢運(yùn)動(dòng)的研究,以及上肢剛體假設(shè)理論和解剖學(xué)理論,完成上肢的模型設(shè)計(jì),然后運(yùn)對(duì)人體上肢模型進(jìn)行運(yùn)動(dòng)學(xué)和動(dòng)力學(xué)計(jì)算,為上肢康復(fù)機(jī)器人的設(shè)計(jì)和虛擬人機(jī)交互仿真的研究提供理論依據(jù)。3)針對(duì)上一代康復(fù)機(jī)器人存在的問(wèn)題,提出合理的解決方案。依據(jù)人體參數(shù)和運(yùn)動(dòng)規(guī)律,計(jì)算機(jī)器人的桿長(zhǎng)、行程、運(yùn)動(dòng)范圍等,最終完成新一代康復(fù)機(jī)器人的設(shè)計(jì),最后對(duì)其做運(yùn)動(dòng)學(xué)、動(dòng)力學(xué)計(jì)算。4)應(yīng)用計(jì)算機(jī)輔助人機(jī)工程技術(shù),進(jìn)行人機(jī)交互虛擬仿真,模擬人體上肢康復(fù)運(yùn)動(dòng)的動(dòng)作,研究虛擬人體與上肢康復(fù)機(jī)器樣機(jī)交互過(guò)程中的人體可觸空間、舒適性、受力等。本文的創(chuàng)新點(diǎn):通過(guò)運(yùn)動(dòng)捕捉技術(shù),進(jìn)行人體上肢日常生活運(yùn)動(dòng)規(guī)律和人體上肢生物力學(xué)的基礎(chǔ)研究,應(yīng)用計(jì)算機(jī)輔助人機(jī)工程學(xué)進(jìn)行人體與康復(fù)機(jī)器人的交互仿真。本文的研究意義:本文從人體運(yùn)動(dòng)特性和人機(jī)交互角度進(jìn)行上肢康復(fù)機(jī)器人的研究,取得了部分基礎(chǔ)研究成果,為機(jī)器人的評(píng)價(jià)和優(yōu)化提供理論依據(jù)。
[Abstract]:China's population of 60 years old and over is 212 million, and about 2 million people die from stroke each year as the country's population ages, according to the 2014 census. Stroke brings great losses to the family and society. The role of rehabilitation robot is to help stroke patients with rehabilitation therapy. In the field of rehabilitation robot research, most of the research focus on the robot system itself, lack of research on the human body characteristics and human-computer interaction process, on the basis of literature research and the previous generation of robots, this paper carried out the human upper limb movement. The design of robot and the research of human-computer interaction. The main research contents are as follows: (1) according to the motion capture technology, the motion capture system is used to complete the data collection of human upper limb motion, and to obtain the relevant data of human upper limb daily life action. Through data processing and analysis, the study of the upper limb joint motion law of human daily activities. (2) according to the study of human biomechanics and upper limb movement, as well as the theory of upper limb rigid body hypothesis and anatomy, the model design of upper limb is completed. Then the kinematics and dynamics of the human upper limb model are calculated to provide the theoretical basis for the design of the upper limb rehabilitation robot and the research of virtual man-machine interaction simulation. 3) aiming at the problems existing in the previous generation rehabilitation robot. Put forward a reasonable solution. According to the parameters of human body and the law of motion, the length of rod, stroke and range of motion of the robot are calculated. Finally, the design of the new generation rehabilitation robot is completed. Finally, the kinematics and dynamics calculation. 4) the computer aided ergonomics technology is used. The virtual simulation of human-computer interaction is carried out to simulate the movement of human upper limb rehabilitation, and the touchable space, comfort and force of the human body in the process of interaction between the virtual human body and the upper limb rehabilitation machine prototype are studied. The innovation of this paper is as follows: through the motion capture technology, the basic research on the daily life movement law of human upper limb and biomechanics of human upper limb is carried out, and the interactive simulation between human body and rehabilitation robot is carried out by computer aided ergonomics. The purpose of this paper is to study the upper limb rehabilitation robot from the point of view of human motion characteristics and human-computer interaction. Some basic research results have been obtained, which provide theoretical basis for the evaluation and optimization of robot.
【學(xué)位授予單位】：寧波大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類(lèi)號(hào)】：TP242

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