【摘要】：震顫是一種常見的運(yùn)動(dòng)功能失調(diào)現(xiàn)象，很多研究者對(duì)其病因展開了研究，但是到目前為止還沒有一個(gè)清晰明確的解釋。目前主要的觀點(diǎn)有中樞震顫和外圍震顫兩種機(jī)制，并且通過數(shù)學(xué)建模的方法從工程角度研究震顫?rùn)C(jī)制已經(jīng)成為了一種趨勢(shì)。本文基于具有本體感知反饋的肌骨模型對(duì)震顫的兩種病因進(jìn)行仿真研究，并在真實(shí)受試者身上通過實(shí)驗(yàn)對(duì)仿真結(jié)果進(jìn)行驗(yàn)證。 另外，對(duì)于輔助式抑震技術(shù)的研究引起了眾多研究人員的興趣，功能性電刺激(FES)作為一門新興技術(shù)，已被廣泛應(yīng)用在康復(fù)工程領(lǐng)域，如果能夠?qū)⑵鋺?yīng)用在抑制震顫方面，其系統(tǒng)能夠集成為袖套樣式，美觀、實(shí)用、裝飾性好、外形更易為患者所接受，必然會(huì)存在巨大的潛在用戶群。本文以非線性腕關(guān)節(jié)肌骨模型為控制對(duì)象仿真單自由度運(yùn)動(dòng)型震顫抑制，通過高通濾波器濾除低頻自主運(yùn)動(dòng)以獲取腕關(guān)節(jié)震顫信號(hào)，對(duì)傳統(tǒng)PID與模糊自適應(yīng)PID在單自由度運(yùn)動(dòng)性震顫抑制上的效果進(jìn)行了比較，在仿真結(jié)果的指導(dǎo)下完成腕關(guān)節(jié)單自由度運(yùn)動(dòng)型震顫抑制系統(tǒng)集成設(shè)計(jì)與臨床實(shí)驗(yàn)測(cè)試。最后對(duì)多自由度震顫抑制進(jìn)行了仿真研究，，本部分中腕關(guān)節(jié)骨骼模型為類似倒立擺的具有耦合特點(diǎn)的狀態(tài)空間方程形式，能夠較好的表征真實(shí)人體腕關(guān)節(jié)骨骼特性，基于模型逆的前饋控制用來(lái)提高系統(tǒng)的實(shí)時(shí)響應(yīng)性，采用線性二次調(diào)節(jié)(LQR)控制算法對(duì)震顫進(jìn)行消除，結(jié)果表明該控制策略能夠獲得一個(gè)較好的抑震效果。
[Abstract]:Tremor is a common phenomenon of motor dysfunction. Many researchers have studied its etiology, but so far there is no clear explanation. At present, there are two kinds of mechanisms of central tremor and peripheral tremor, and it has become a trend to study the mechanism of tremor from the point of view of engineering through mathematical modeling. In this paper, two kinds of etiology of tremor are simulated based on the muscle bone model with proprioceptive feedback, and the simulation results are verified by experiments on real subjects. In addition, the study of auxiliary shock suppression technology has attracted the interest of many researchers. As a new technology, functional electrical stimulation (FES) has been widely used in rehabilitation engineering, if it can be used in the field of tremor suppression. The system can be integrated into sleeve style, beautiful, practical, decorative, more easily accepted by patients, there will be a huge potential users. In this paper, the nonlinear wrist muscle bone model is used as the control object to simulate the single degree-of-freedom motion type tremor suppression, and the low-frequency autonomous motion is filtered out by high-pass filter to obtain the wrist tremor signal. The effects of traditional PID and fuzzy adaptive PID on single degree-of-freedom motion induced tremor suppression are compared. Under the guidance of simulation results, the integrated design and clinical test of wrist joint single-degree-of-freedom motion tremor suppression system are completed. Finally, the simulation of multi-degree-of-freedom tremor suppression is carried out. In this part, the skeletal model of wrist joint is a state space equation with coupling characteristics similar to inverted pendulum, which can better characterize the skeletal characteristics of real human wrist joint. The feedforward control based on model inversion is used to improve the real-time response of the system. The linear quadratic (LQR) control algorithm is used to eliminate the tremor. The results show that the control strategy can achieve a better effect of earthquake suppression.
【學(xué)位授予單位】：上海交通大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2014
【分類號(hào)】：R742.5

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本文編號(hào)：2239594