【摘要】：由于老齡化的社會(huì)現(xiàn)狀,失能半失能老人迅速增加。如何用現(xiàn)代化的方式解決失能半失能老人的護(hù)理問題是康復(fù)助行機(jī)器人領(lǐng)域研究人員一直在從事的工作。由于拐杖機(jī)器人,使用起來靈活方便,不會(huì)限制人體活動(dòng),更適合室內(nèi)環(huán)境。所以本文設(shè)計(jì)開發(fā)了拐杖助行機(jī)器人。目前,拐杖式助行機(jī)器人在執(zhí)行助行任務(wù)時(shí),支撐裝置(拐杖)和導(dǎo)向裝置(移動(dòng)平臺(tái))之間一直保持垂直狀態(tài)。這種形式造成支撐裝置并不能提供足夠的,適當(dāng)方向的支撐力,使用習(xí)慣和正常的拄拐習(xí)慣完全不同,所以多數(shù)只能起到引導(dǎo)作用,為了解決這些問題,做了以下研究。首先,通過設(shè)計(jì)了一款全向可控的關(guān)節(jié),取代拐杖助行機(jī)器人現(xiàn)有的剛性連接結(jié)構(gòu),使拐杖式助行機(jī)器人在執(zhí)行助行功能時(shí),拐杖受人體控制在平臺(tái)上擺動(dòng)。其次,通過設(shè)計(jì)拐杖狀態(tài)檢測(cè)系統(tǒng),研究人使用普通拐杖時(shí),拐杖的受力和運(yùn)動(dòng)情況。通過拐杖受力和運(yùn)動(dòng)了解人的拄拐習(xí)慣。并建立普通拐杖受力和運(yùn)動(dòng)間的動(dòng)力學(xué)模型。再次,為了讓人使用拐杖機(jī)器人時(shí),人和拐杖間的相互作用力和使用普通拐杖一樣。在拐杖機(jī)器人的控制上使用了導(dǎo)納控制,利用導(dǎo)納模型將速度轉(zhuǎn)化為接觸力。這樣就可以通過控制平臺(tái)速度調(diào)節(jié)拐杖和人之間的相互作用力。最后,按照需要設(shè)計(jì)了拐杖機(jī)器人的電氣系統(tǒng),電氣系統(tǒng)分為硬件部分和軟件部分。在設(shè)計(jì)的電氣系統(tǒng)上進(jìn)行相關(guān)實(shí)驗(yàn),實(shí)驗(yàn)驗(yàn)證了研究?jī)?nèi)容的有效性。
[Abstract]:Due to the current situation of aging society, the disabled and semi-disabled elderly increase rapidly. How to solve the nursing problem of disabled and semi-disabled elderly in a modern way is the work of researchers in the field of rehabilitation robot. As crutches robot, flexible and convenient to use, will not restrict human activities, more suitable for indoor environment. Therefore, this paper designs and develops a walking robot with crutches. At present, the walking robot maintains a vertical state between the supporting device (crutch) and the guiding device (mobile platform) when performing the task. This form of support does not provide enough support in the proper direction, and the usage habits are completely different from the normal crutches, so most of them can only play a leading role. In order to solve these problems, the following research has been done. Firstly, an omnidirectional controllable joint is designed to replace the existing rigid connection structure of the crutch-assisted robot, which makes the crutch-type walking robot swing on the platform under the control of human body. Secondly, the force and motion of crutches are studied by designing crutches state detection system. Understand the habit of crutches through force and movement of crutches. The dynamic model between force and motion of common crutches is established. Thirdly, in order to make people use crutches, the interaction between human and cane is the same as that of ordinary crutches. Admittance control is used in the control of crutches robot, and the velocity is transformed into contact force by admittance model. In this way, the interaction between crutches and human beings can be adjusted by controlling the speed of the platform. Finally, the electric system of crutches robot is designed according to the need. The electrical system is divided into hardware part and software part. Experiments were carried out on the designed electrical system to verify the effectiveness of the research.
【學(xué)位授予單位】：沈陽工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242

【參考文獻(xiàn)】

相關(guān)期刊論文 前1條

1 劉慧;沈軍;;住院老年癡呆患者跌倒發(fā)生情況及危險(xiǎn)因素分析[J];中國老年學(xué)雜志;2011年23期

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本文編號(hào)：2309959