本文選題：上肢 + 運動捕捉�。� 參考：《寧波大學》2017年碩士論文

【摘要】：據(jù)2014年人口統(tǒng)計,中國60歲及以上人口2.12億,隨著中國人口老齡化的到來,每年有約200萬人因腦卒中去世。腦卒中給患者家庭和社會帶來巨大損失,康復機器人的作用就是幫助腦卒中患者康復治療;。在康復機器人研究領域,多數(shù)研究集中在機器人系統(tǒng)本身,缺乏對人體特性和人機交互過程的研究,在文獻調研和上一代機器人的基礎上,本文開展了人體上肢運動、機器人的設計和人機交互特性的研究工作。其主要研究內容如下:1)依據(jù)運動捕捉技術,應用搭建的運動捕捉系統(tǒng)完成人體上肢運動數(shù)據(jù)的采集,獲取人體上肢日常生活動作的相關數(shù)據(jù)。經過數(shù)據(jù)處理和分析,研究人體日�；顒拥纳现P節(jié)運動規(guī)律。2)根據(jù)人體生物力學和上肢運動的研究,以及上肢剛體假設理論和解剖學理論,完成上肢的模型設計,然后運對人體上肢模型進行運動學和動力學計算,為上肢康復機器人的設計和虛擬人機交互仿真的研究提供理論依據(jù)。3)針對上一代康復機器人存在的問題,提出合理的解決方案。依據(jù)人體參數(shù)和運動規(guī)律,計算機器人的桿長、行程、運動范圍等,最終完成新一代康復機器人的設計,最后對其做運動學、動力學計算。4)應用計算機輔助人機工程技術,進行人機交互虛擬仿真,模擬人體上肢康復運動的動作,研究虛擬人體與上肢康復機器樣機交互過程中的人體可觸空間、舒適性、受力等。本文的創(chuàng)新點:通過運動捕捉技術,進行人體上肢日常生活運動規(guī)律和人體上肢生物力學的基礎研究,應用計算機輔助人機工程學進行人體與康復機器人的交互仿真。本文的研究意義:本文從人體運動特性和人機交互角度進行上肢康復機器人的研究,取得了部分基礎研究成果,為機器人的評價和優(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.
【學位授予單位】：寧波大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP242

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