气压驱动步态康复训练机器人设计
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摘要
随着人们生活水平的提高,脑血管疾病的发病率正在逐年上升。我国每年新发生脑卒中人数达250万,70%-80%的患者留有不同程度的肢体运动障碍,从而丧失劳动和生活自理能力。减重步态训练是下肢偏瘫患者康复治疗普遍采用的有效方法之一,其康复效果已经得到国内外诸多医学专家的普遍认同。目前大多数临床医院所采用的减重步态训练是在康复专业理疗师手把手的指导下完成正确的行走步态,效率低且工作强度大,制约了康复训练效率的提高和方法的改进。
本课题研制的基于气压驱动的步态康复训练机器人,是针对现有减重康复训练的不足而设计的一种新型训练装置。本文首先综述了康复机器人课题研究的当前背景,以及气动系统在康复设备和机器人方面的应用。然后提出了减重步态康复训练机器人总体设计方案,利用Matlab/Simulink仿真环境下的机构系统模块集(SimMechanics)建立了机器人系统的仿真模型,进行了运动仿真分析研究,得到机器人三个关节的运动轨迹。根据所获得的关节运动轨迹,对步态康复训练机器人进行了样机设计。步态康复训练机器人采用高速开关阀作为控制元件,利用PWM方式调节高速开关阀占空比来实现进出气缸和气动人工肌肉气体流量的变化,从而推动机器人关节运动来实现跟踪设定的步态轨迹。根据设计方案,初步制作了机器人(单腿三个关节)样机,并配备了相应的驱动元件和传感器检测元件,制作了功率驱动板,搭建了相关的实验硬件平台。根据PWM控制高速开关阀气动系统特点制定了对应的驱动方式及控制策略,在LabVIEW环境下编写了相对应的数据采集和控制软件,进行了单关节和双关节的跟踪实验。
通过实验初步验证了步态康复训练机器人系统工作的可行性和有效性,并且步态康复训练机器人项目具有较好的发展前景。最后对于下一步机器人样机系统的调试、功能的扩展优化以及在临床上试用考察康复效果等工作进行了展望。
As people's living standards improve, stroke patients are increasing year by year. Every year, the number of new stroke happened is 250 millions in our country, 70% -80% of patients have varying degrees of movement disorder limb, and lose the labor and self-care ability. Body weight supported treadmill training is an effective method for improving the recovery of walking ability. The effects of rehabilitation have been generally agreed by medical experts both at home and abroad. At present body weight supported treadmill training is done hand by hand by the physical therapist to reach the correct walking gait in most of hospitals, this is low efficiency and intensity of work. All of this constrains the efficiency of rehabilitation training and the improvement of rehabilitation methods.
In this subject, the gait rehabilitation training robot driven by pneumatic actuators is a new type of device aimed at the existing shortage of body weight supported treadmill training at present. At first this paper summarizes the current research background of the rehabilitation robot, and the applications of the pneumatic system on the rehabilitation equipments and the rehabilitation robots, then put forward the design program of the gait rehabilitation training robot for body weight supported treadmill training. Based on the analysis of normal walking gait, the simulation model of the gait rehabilitation training robot system is set up by using of SimMechanics in the Matlab / Simulink simulation environment, an analytical study is carried out on this robot simulation model, the trajectories of the robot’s three joints are obtained as the results. The prototype of the robot driven by pneumatic cylinders and pneumatic muscles is presented according to the trajectory of joints. The high-speed on-off valve is taken as the control element, and the pneumatic actuator’s positions are controlled by regulating high-speed on-off valve’s duty cycle in PWM mode, thus the robot can guide the patient’s legs to move in a preprogrammed gait pattern on the special treadmill. According to the design plan, the prototype of robot’s leg which has three joints is produced, and equipped with driven components and sensor components. In the meanwhile, a power driver board is produced; the experimental hardware platform is set up. According to the characteristics of pneumatic system controlled by high-speed on-off valve, the system-driven approach and control strategies are formulated. In the LabVIEW environment, the corresponding software of data acquisition and control is programmed. Based on the prototype platform, the experiments about tracking the target gait trajectory of both one joint and two joints are carried out by using the designed control strategies.
Through preliminary experiments, the feasibility and effectiveness of the gait rehabilitation training robot are verified, and the robot has a better prospect for development. In the next step we will focus on perfecting the prototype, expanding and optimizing the function of the system, studying and assessing the effect of rehabilitation in the clinical trial and so on.
本课题研制的基于气压驱动的步态康复训练机器人,是针对现有减重康复训练的不足而设计的一种新型训练装置。本文首先综述了康复机器人课题研究的当前背景,以及气动系统在康复设备和机器人方面的应用。然后提出了减重步态康复训练机器人总体设计方案,利用Matlab/Simulink仿真环境下的机构系统模块集(SimMechanics)建立了机器人系统的仿真模型,进行了运动仿真分析研究,得到机器人三个关节的运动轨迹。根据所获得的关节运动轨迹,对步态康复训练机器人进行了样机设计。步态康复训练机器人采用高速开关阀作为控制元件,利用PWM方式调节高速开关阀占空比来实现进出气缸和气动人工肌肉气体流量的变化,从而推动机器人关节运动来实现跟踪设定的步态轨迹。根据设计方案,初步制作了机器人(单腿三个关节)样机,并配备了相应的驱动元件和传感器检测元件,制作了功率驱动板,搭建了相关的实验硬件平台。根据PWM控制高速开关阀气动系统特点制定了对应的驱动方式及控制策略,在LabVIEW环境下编写了相对应的数据采集和控制软件,进行了单关节和双关节的跟踪实验。
通过实验初步验证了步态康复训练机器人系统工作的可行性和有效性,并且步态康复训练机器人项目具有较好的发展前景。最后对于下一步机器人样机系统的调试、功能的扩展优化以及在临床上试用考察康复效果等工作进行了展望。
As people's living standards improve, stroke patients are increasing year by year. Every year, the number of new stroke happened is 250 millions in our country, 70% -80% of patients have varying degrees of movement disorder limb, and lose the labor and self-care ability. Body weight supported treadmill training is an effective method for improving the recovery of walking ability. The effects of rehabilitation have been generally agreed by medical experts both at home and abroad. At present body weight supported treadmill training is done hand by hand by the physical therapist to reach the correct walking gait in most of hospitals, this is low efficiency and intensity of work. All of this constrains the efficiency of rehabilitation training and the improvement of rehabilitation methods.
In this subject, the gait rehabilitation training robot driven by pneumatic actuators is a new type of device aimed at the existing shortage of body weight supported treadmill training at present. At first this paper summarizes the current research background of the rehabilitation robot, and the applications of the pneumatic system on the rehabilitation equipments and the rehabilitation robots, then put forward the design program of the gait rehabilitation training robot for body weight supported treadmill training. Based on the analysis of normal walking gait, the simulation model of the gait rehabilitation training robot system is set up by using of SimMechanics in the Matlab / Simulink simulation environment, an analytical study is carried out on this robot simulation model, the trajectories of the robot’s three joints are obtained as the results. The prototype of the robot driven by pneumatic cylinders and pneumatic muscles is presented according to the trajectory of joints. The high-speed on-off valve is taken as the control element, and the pneumatic actuator’s positions are controlled by regulating high-speed on-off valve’s duty cycle in PWM mode, thus the robot can guide the patient’s legs to move in a preprogrammed gait pattern on the special treadmill. According to the design plan, the prototype of robot’s leg which has three joints is produced, and equipped with driven components and sensor components. In the meanwhile, a power driver board is produced; the experimental hardware platform is set up. According to the characteristics of pneumatic system controlled by high-speed on-off valve, the system-driven approach and control strategies are formulated. In the LabVIEW environment, the corresponding software of data acquisition and control is programmed. Based on the prototype platform, the experiments about tracking the target gait trajectory of both one joint and two joints are carried out by using the designed control strategies.
Through preliminary experiments, the feasibility and effectiveness of the gait rehabilitation training robot are verified, and the robot has a better prospect for development. In the next step we will focus on perfecting the prototype, expanding and optimizing the function of the system, studying and assessing the effect of rehabilitation in the clinical trial and so on.
引文
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[2]金俏,黄茜.急性脑卒中患者早期综合康复治疗的临床研究[J].中国现代医学杂志, 2006(22):3444-3446.
[3]徐军青,邱纪方,俞莲娟.早期康复干预对急性脑卒中患者生存质量的影响[J].中华物理医学与康复杂志,2006(10):696-698.
[4]曹玉灵,马超,伍少玲,等.早期综合康复对脑卒中患者运动功能和ADL能力的影响[J].中国康复医学杂志, 2006(11):1029-1030.
[5]杨雅琴,张通.减重步行训练对脑卒中后偏瘫步态康复的影响[J].中国康复医学杂志,2004(10): 731-733.
[6]罗爱华,潘翠环,叶彤,等.减重步行训练对脑梗死后偏瘫患者步行功能的影响[J].广州医学院学报,2005,33(04):18-20.
[7]励建安.脑卒中的步态异常和治疗对策[J].中华全科医师杂志, 2005,4(12):715-717.
[8]励建安,孟殿怀.步态分析的临床应用[J].中华物理医学与康复杂志,2006,28(07):500-503.
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