本文選題：外骨骼 + 康復(fù)輔具　； 參考：《天津科技大學(xué)》2017年碩士論文

【摘要】：動(dòng)力式下肢外骨骼是一款可以幫助人行走、負(fù)重、鍛煉下肢肌力的可穿戴設(shè)備。它將人和機(jī)器人的優(yōu)勢結(jié)合起來,通過二者之間的協(xié)同合作,以達(dá)到所期望的運(yùn)動(dòng)要求。當(dāng)今社會(huì)人口老齡化的趨勢越來越嚴(yán)重,下肢外骨骼有助于老年人以及中風(fēng)偏癱的失能人群鍛煉下肢肌肉力量,恢復(fù)肌肉活性,從而能夠改善生活質(zhì)量,提高生活品質(zhì)。本文通過研究人體下肢運(yùn)動(dòng)機(jī)理并使用三維運(yùn)動(dòng)捕捉系統(tǒng)對人體下肢步態(tài)數(shù)據(jù)進(jìn)行采集和分析,作為結(jié)構(gòu)設(shè)計(jì)和控制系統(tǒng)設(shè)計(jì)的理論依據(jù)和數(shù)據(jù)支撐。對動(dòng)力式下肢外骨骼的結(jié)構(gòu)進(jìn)行運(yùn)動(dòng)學(xué)和動(dòng)力學(xué)分析,完成了對下肢外骨骼控制系統(tǒng)的設(shè)計(jì)。本論文主要完成了以下工作:1.通過比較不同驅(qū)動(dòng)方式的優(yōu)缺點(diǎn),選擇電機(jī)的驅(qū)動(dòng)方式,以伺服電缸作為動(dòng)力元件進(jìn)行驅(qū)動(dòng)。2.結(jié)合下肢外骨骼對驅(qū)動(dòng)元件的控制要求,以及根據(jù)對動(dòng)力元件的性能參數(shù)要求,綜合國內(nèi)外現(xiàn)有的產(chǎn)品,對動(dòng)力元件進(jìn)行設(shè)計(jì)和選型。3.完成了傳感器系統(tǒng)的設(shè)計(jì),能夠準(zhǔn)確測量人在穿戴設(shè)備行走時(shí)的運(yùn)動(dòng)信息,也保障了安全。4.控制系統(tǒng)的設(shè)計(jì)采用閉環(huán)控制策略,通過不斷的反饋調(diào)節(jié)以達(dá)到控制要求。采用CAN總線的通訊方式,可實(shí)現(xiàn)各節(jié)點(diǎn)之間的自由通信,突破了 RS485通信只能以主站輪詢方式的限制,使得控制系統(tǒng)的實(shí)時(shí)性和可靠性得到了明顯的提高。5.設(shè)計(jì)了 PID控制算法,選擇MATLAB的SIMULINK模塊進(jìn)行控制系統(tǒng)的仿真,驗(yàn)證控制系統(tǒng)設(shè)計(jì)的可行性和合理性,將模糊控制和PID控制結(jié)合起來的模糊PID控制算法對控制系統(tǒng)進(jìn)行進(jìn)一步的優(yōu)化設(shè)計(jì)。本文所設(shè)計(jì)的康復(fù)訓(xùn)練用下肢外骨骼控制系統(tǒng)具有超調(diào)量小、響應(yīng)速度快、自適應(yīng)能力強(qiáng)和穩(wěn)定性強(qiáng)的特點(diǎn)。
[Abstract]:Dynamic Exoskeleton is a wearable device that helps people walk, bear weight and exercise lower limb muscle strength. It combines the advantages of human and robot, through the cooperation between the two, to achieve the desired motion requirements. Nowadays, the trend of aging population is becoming more and more serious. Exoskeleton of lower extremity is helpful for the elderly and the disabled people with apoplectic hemiplegia to exercise lower limb muscle strength and restore muscle activity, thus improving the quality of life and improving the quality of life. In this paper, the movement mechanism of human lower limb is studied and the gait data of human lower limb is collected and analyzed by using 3D motion capture system, which is used as the theoretical basis and data support for structure design and control system design. The kinematics and dynamics of the exoskeleton of the lower extremity are analyzed, and the control system of exoskeleton of the lower extremity is designed. This paper mainly completed the following work: 1. By comparing the advantages and disadvantages of different driving modes, the motor drive mode is selected, and the servo electric cylinder is used as the driving element. According to the control requirements of the lower limb exoskeleton and the requirements of the performance parameters of the power components, the design and selection of the power components are carried out by synthesizing the existing products at home and abroad. The design of sensor system is completed, which can accurately measure the movement information of people walking in wearable equipment, and also ensure the safety. 4. The closed-loop control strategy is adopted in the design of the control system, and the control requirements are achieved by continuous feedback adjustment. The communication mode of CAN bus can realize the free communication among the nodes, which breaks through the limitation that the RS485 communication can only be done by the polling mode of the master station, which makes the real-time performance and reliability of the control system obviously improved .5. The PID control algorithm is designed and the SIMULINK module of MATLAB is selected to simulate the control system. The feasibility and rationality of the control system design are verified. The fuzzy PID control algorithm which combines fuzzy control and PID control is used to optimize the control system. The lower extremity exoskeleton control system designed in this paper is characterized by small overshoot, fast response, strong adaptive ability and strong stability.
【學(xué)位授予單位】：天津科技大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP273;TP242

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本文編號：1989703