摘要
目前,随着科技进步和人民生活水平的提高,我国也像世界上很多其它国家一样正在步入老龄化社会。老龄化过程中的生理衰退导致老年人四肢活动能力逐渐下降,给日常生活带来诸多不便,跌倒的情况经常发生。
医学理论和临床病例证明,在手术与药物治疗的基础上,正确而科学的康复辅助训练对于有肢体损伤的患者的运动功能的快速恢复与提高,有着非常重要的作用。在传统的康复训练时,所采用的方法主要是患者在康复师的辅助指导下进行相应的活动,所以其康复的效果很大一部分取决于康复师的经验和水平,这就很大程度上限制了患者康复的速度。同时,由于以往的康复器械尚不完善,功能有限,这就更加局限了患者的康复。先进的康复机器人技术,完美地结合了康复医学与机器人技术,很好的解决了上述问题。
文章撰写时在阅读大量国内外康复机器人领域的参考文献后,针对传统康复辅助训练方法的不足,以及人体跌倒时的体态特征,进行了以全向移动下肢康复机器人为平台并结合加速度信号采集功能的康复训练系统的设计研究。研究的主要内容包括下肢康复机器人防跌倒策略的研究以及防跌倒控制系统的设计。
防跌倒控制系统的设计大大减小了患者跌倒的概率,一方面在一定程度上削弱了因跌倒而给患者带来的痛苦,另一方面也在心理层面给患者以很大的信心,这样非常有助于患者的康复训练,使其更快的恢复健康。
本文通过理论分析和样机试验,验证了防跌倒控制策略的有效性和实用性。
Now, with technological progress and improved living standards, China, like many other countries in the world is moving into an aging society. The physiological aging process of limb movement recession led to the gradual decline in the elderly, inconvenience to the daily life, falls often occurs.
Medical theory and clinical proof for the limb motor function in patients with deterioration or damage, in addition to early surgical treatment and necessary medical treatment, recovery of motor function in the body and improve the process, the correct scientific rehabilitation play a very important role. Traditional rehabilitation methods in the treatment of hands under the guidance of teacher training, treatment and more depends on the therapist's experience and level. At the same time as the original method of rehabilitation training rehabilitation equipment limitations, can not yet functional assessment, exercise therapy and psychotherapy organically through it, especially psychological treatment can not always run through rehabilitation.
When I write this paper, I had read a lot of papers at home and abroad in the field of rehabilitation robotics reference, the traditional training method for rehabilitation of the deficiency, and the characteristics of human body when falling, were full to move lower limb rehabilitation robot as a platform combined with the acceleration signal acquisition functional design of rehabilitation training system. The main contents include fall prevention strategy for lower extremity rehabilitation robot research and anti-fall control system.
Anti-fall control system design greatly reduces the probability of falling in patients with one hand, weakened to some extent to the patients because of falls, the pain, on the other hand also to patients with significant psychological level of confidence, which is Rehabilitation can help patients to make a faster recovery.
This paper prove the effectiveness of anti-fall and practical control strategy, through theoretical analysis and prototype testing.
引文
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