肢体运动康复机的控制方法的研究和实现
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摘要
根据目前我国烧伤病人和其他意外性伤害造成的骨折病人治疗中后期肢体功能恢复方面的现状，提出了一种采用电控装置控制电机来构成肢体运动康复机的设计方案。该肢体运动康复机主要由主机、电控装置、减速器及功能件四个部分组成。
电控装置包括单片机、电源、键盘、显示器、电机驱动等五大部件。将肢体运动康复机本身选用的六项功能用以下五个参数的设定来控制，即用速度、幅度、位置、频率、时间这五个可调参数的控制来实现肢体运动康复机中上肢手臂伸屈、手臂旋转、腕关节上下左右摆动、手指伸屈、下肢膝关节伸屈、踝关节上下左右摆动六个功能。其原理是主机电机由电控装置控制旋转，通过末级涡轮减速器，由输出轴输出往复回转运动，带动功能件，使之转换为各种自由度的运动。
肢体运动康复机的核心部分是电控装置，单片机起数据处理及控制等作用，电源部分提供给单片机及其他部件工作电压，键盘提供输入数据，显示器显示运动数据及预设数据，电机驱动部分通过控制信号来驱动电机工作。充分利用硬件和软件，来保证该设备的安全正常工作。
According to the current actllality in our country the patients which were scorched
and the other patients with the bone fracture that caused by the accident in the middle
and anaphase period of medical treatment, in this paper we brings up a prOject about a
machinery for body functional rehabilitation which is consisted of electrical-controlled
appliance and control motor. This machinery is consisted of host, electrical-controlled
appliance, reducer and functional part.
Electrical-controlled appliance includes single slice microcomputef, power supply,
keyboard, liquid crystal display. The machine fOr body functional rehabilitation is
controlled by enactment of five parameters,which are speed, range, position, frequency,
time. The enactment of the five adjustable parameters used to realize six function that
are anns stretching and circumrotating, wrist swing, finger stretching, crura Anuckle
stretching, anklebone swing. Its theory are that the elect fical-controlled aPpliance
contrOls circunirotation of the main motor and by the end class the turbine we adjust the
motof, produce motion to-and-fro and drive the function pall by the deferent stalk and
make it convert into all kinds of random angle motion.
The electrical-controlled appliance is the core part of the machine for body
functional rehabilitation, the single slice microcomputer's function is data processing
and controlling, the power supply provides work voltage to the single slice
microcomputer and other parts, keyboard inputs data, liquid crystal display shows data
of motion and data which establish at first, motor's driver drive motor by control-signal.
After taking best use of hardware and software, we make sure of work security of this
machinery.
电控装置包括单片机、电源、键盘、显示器、电机驱动等五大部件。将肢体运动康复机本身选用的六项功能用以下五个参数的设定来控制，即用速度、幅度、位置、频率、时间这五个可调参数的控制来实现肢体运动康复机中上肢手臂伸屈、手臂旋转、腕关节上下左右摆动、手指伸屈、下肢膝关节伸屈、踝关节上下左右摆动六个功能。其原理是主机电机由电控装置控制旋转，通过末级涡轮减速器，由输出轴输出往复回转运动，带动功能件，使之转换为各种自由度的运动。
肢体运动康复机的核心部分是电控装置，单片机起数据处理及控制等作用，电源部分提供给单片机及其他部件工作电压，键盘提供输入数据，显示器显示运动数据及预设数据，电机驱动部分通过控制信号来驱动电机工作。充分利用硬件和软件，来保证该设备的安全正常工作。
According to the current actllality in our country the patients which were scorched
and the other patients with the bone fracture that caused by the accident in the middle
and anaphase period of medical treatment, in this paper we brings up a prOject about a
machinery for body functional rehabilitation which is consisted of electrical-controlled
appliance and control motor. This machinery is consisted of host, electrical-controlled
appliance, reducer and functional part.
Electrical-controlled appliance includes single slice microcomputef, power supply,
keyboard, liquid crystal display. The machine fOr body functional rehabilitation is
controlled by enactment of five parameters,which are speed, range, position, frequency,
time. The enactment of the five adjustable parameters used to realize six function that
are anns stretching and circumrotating, wrist swing, finger stretching, crura Anuckle
stretching, anklebone swing. Its theory are that the elect fical-controlled aPpliance
contrOls circunirotation of the main motor and by the end class the turbine we adjust the
motof, produce motion to-and-fro and drive the function pall by the deferent stalk and
make it convert into all kinds of random angle motion.
The electrical-controlled appliance is the core part of the machine for body
functional rehabilitation, the single slice microcomputer's function is data processing
and controlling, the power supply provides work voltage to the single slice
microcomputer and other parts, keyboard inputs data, liquid crystal display shows data
of motion and data which establish at first, motor's driver drive motor by control-signal.
After taking best use of hardware and software, we make sure of work security of this
machinery.
引文
[1] 服部一郎．周天健．康复技术全书．北京出版社．1984．457-458
[2] Hayashi KA ,Kamiya K. Biomechanics-Functional adaptation and remodeling. Springer-Verlag, ToKyo. 1996,185-212
[3] Akeson WH, Amiet D,Abel MF, et al. Effect of immobilization on joints. Clin Orthop. 1987,219:28-37
[4] Walsh S Frank C, Shrive Net al, Knee immobilization inhibits biomechanical maturation of the rabbit medial collateral ligament ,Clin Orthop, 1993,297:253
[5] 刘长续．制动对肢体肌肉的影响．国外医学．物理医学与康复学分册．1996，16(1)：7
[6] 倪国新．关节制动对韧带的影响．国外医学．物理医学与康复学分册．1997，17(1)：6
[7] Sandmann ME, Shoeman JA, Thompson LV. The fiber-type-specific effect of inactivity and intermittent weight-bearing on the gastrocnemius muscle of 30-month-old rats. Arch Phys Med Rehabil, 1998,75:658-662
[8] 南登昆．康复医学．北京：人民卫生出版社．1993
[9] 中国康复医学研究会．康复医学．人民卫生出版社．1984
[10] Hopkins HL & Smith HD. Willard and Spackman's Occupational Therapy. 5th ed.1978
[11] Trombly CA & AD: Occupational Therapy for Physical Dysfunction. 1977
[12] Macdonald EM: MacDondald Occupational Therapy in Rehabilittion,4th ed,1976
[13] 徐生坤，黄明勇．自制腕指功能锻炼器的临床应用．中国康复．1999．9
[14] 马兆强等．屈指肌腱修复后滑动牵引支具的临床应用．中国康复．2000．3
[15] 工晓庆等．CPM对下肢关节功能锻炼的应用．中国康复．2000．9
[16] 张晨，鲁周同．CPM机及外熏洗法对下肢骨折的康复治疗．中国中医骨伤科．1999．3
[17] http://www. readmed.com
[18] 张毅刚等．MCS-51单片机应用设计．哈尔滨工业大学出版社．1997．12
[19] 徐爱卿．单片微型计算机应用利开发系统．北京航空航天大学出版社
[20] 丁元杰．单片微机原理及应用．机械工业出版社
[21] 戴梅萼．微型计算机技术及原理．清华大学出版社
[22] 何立民．单片机接口技术．北京航空航天大学出版社
[23] 中国集成电路手册．国防工业出版社．1995
[24] 邵贝贝．单片机技术的发展与单片机应用的广泛选择．电子技术应用．1999．3
[25] MCS-51系列单片机应用系统设计系统配置与接口技术．北京航空航天大学出版社
[26] 何立民．单片机高级教程——应用与设计．北京航空航天大学出版社．2000
[27] http://www.p8s.com
[28] 李仁定．电机的微机控制．机械工业出版社．1999．10
[29] 何立民．单片机应用技术选编(6)．北京航空航天大学出版社．1998．8
[30] 陈普汉等．工业PC机及测控系统．重庆大学
[31] 何立民．单片机应用技术选编(7)．北京航空航天大学出版社．1999．8
[32] 何立民．单片机应用技术选编(8)．北京航空航天大学出版社．2000．8
[33] 沈均毅．管理信息系统通用查询工具的设计与实现．计算机工程与应用．2000．5
[34] 软件工程新进展．清华大学出版社
[35] 集散型控制系统的设计与应用．北京清华大学出版社
[36] 李秉操等．单片机接口技术及其在工业控制中的应用．陕西电子编辑部．1991
[37] 胡汉才．单片机原理及其接口技术．北京．清华大学出版社．1996
[2] Hayashi KA ,Kamiya K. Biomechanics-Functional adaptation and remodeling. Springer-Verlag, ToKyo. 1996,185-212
[3] Akeson WH, Amiet D,Abel MF, et al. Effect of immobilization on joints. Clin Orthop. 1987,219:28-37
[4] Walsh S Frank C, Shrive Net al, Knee immobilization inhibits biomechanical maturation of the rabbit medial collateral ligament ,Clin Orthop, 1993,297:253
[5] 刘长续．制动对肢体肌肉的影响．国外医学．物理医学与康复学分册．1996，16(1)：7
[6] 倪国新．关节制动对韧带的影响．国外医学．物理医学与康复学分册．1997，17(1)：6
[7] Sandmann ME, Shoeman JA, Thompson LV. The fiber-type-specific effect of inactivity and intermittent weight-bearing on the gastrocnemius muscle of 30-month-old rats. Arch Phys Med Rehabil, 1998,75:658-662
[8] 南登昆．康复医学．北京：人民卫生出版社．1993
[9] 中国康复医学研究会．康复医学．人民卫生出版社．1984
[10] Hopkins HL & Smith HD. Willard and Spackman's Occupational Therapy. 5th ed.1978
[11] Trombly CA & AD: Occupational Therapy for Physical Dysfunction. 1977
[12] Macdonald EM: MacDondald Occupational Therapy in Rehabilittion,4th ed,1976
[13] 徐生坤，黄明勇．自制腕指功能锻炼器的临床应用．中国康复．1999．9
[14] 马兆强等．屈指肌腱修复后滑动牵引支具的临床应用．中国康复．2000．3
[15] 工晓庆等．CPM对下肢关节功能锻炼的应用．中国康复．2000．9
[16] 张晨，鲁周同．CPM机及外熏洗法对下肢骨折的康复治疗．中国中医骨伤科．1999．3
[17] http://www. readmed.com
[18] 张毅刚等．MCS-51单片机应用设计．哈尔滨工业大学出版社．1997．12
[19] 徐爱卿．单片微型计算机应用利开发系统．北京航空航天大学出版社
[20] 丁元杰．单片微机原理及应用．机械工业出版社
[21] 戴梅萼．微型计算机技术及原理．清华大学出版社
[22] 何立民．单片机接口技术．北京航空航天大学出版社
[23] 中国集成电路手册．国防工业出版社．1995
[24] 邵贝贝．单片机技术的发展与单片机应用的广泛选择．电子技术应用．1999．3
[25] MCS-51系列单片机应用系统设计系统配置与接口技术．北京航空航天大学出版社
[26] 何立民．单片机高级教程——应用与设计．北京航空航天大学出版社．2000
[27] http://www.p8s.com
[28] 李仁定．电机的微机控制．机械工业出版社．1999．10
[29] 何立民．单片机应用技术选编(6)．北京航空航天大学出版社．1998．8
[30] 陈普汉等．工业PC机及测控系统．重庆大学
[31] 何立民．单片机应用技术选编(7)．北京航空航天大学出版社．1999．8
[32] 何立民．单片机应用技术选编(8)．北京航空航天大学出版社．2000．8
[33] 沈均毅．管理信息系统通用查询工具的设计与实现．计算机工程与应用．2000．5
[34] 软件工程新进展．清华大学出版社
[35] 集散型控制系统的设计与应用．北京清华大学出版社
[36] 李秉操等．单片机接口技术及其在工业控制中的应用．陕西电子编辑部．1991
[37] 胡汉才．单片机原理及其接口技术．北京．清华大学出版社．1996