摘要
医学理论和临床实践证明,对于脑卒中等疾病引起的肢体运动障碍的患者,除了早期的手术治疗和必要的药物治疗外,科学正确的康复训练对于患者肢体运动功能的恢复和提高具有重大作用。因此下肢外骨骼康复训练机器人设计的主要目的就是提供一种安全的步行训练机构,对患者进行智能化康复训练。
首先,本文结合全向移动平台与人体下肢行走的动力学原理,提出了被动式外骨骼的设计方法,并针对关节力矩对设计参数进行优化。为了使外骨骼满足更多的康复需求,按照拟人化原则设计了外骨骼的驱动机构。基于三维参数化软件Pro/E建立外骨骼康复机器人的实体模型并给出了具体设计参数。
然后,针对康复训练机器人室内环境自由移动的特点,完成了外骨骼机器人无线康复信息采集系统的上下位机设计。建立起用于下肢康复评估的Pro/E模型与评价方法。完成单侧被动式外骨骼试验模型并在健康受试者身上做了初步实验,验证了信息采集系统的实用性。
最后,对外骨骼被动式康复控制策略进行了研究。根据不同速度下肢关节的运动规律,得到了关节角度归一化参数方程的描述。给出关节驱动器的控制模型并对设计的控制器进行了仿真研究。
本文的研究工作为日后成功建立外骨骼实验样机与康复机器人更深入的研究打下了初步的理论和实践基础。
Medical theories and clinical medicine show that not only early surgical treatment and the medical treatment is necessary for a hemiplegia patients, but rehabilitation training is also playing a significant role for physical functions rehabilitation. So the main purposes of the lower extremity exoskeletons rehabilitation training robot is to provide a reliable walk training institutions for patients intelligent rehabilitation training.
Firstly, with the principles of omni-directional mobile platform and human walking dynamics, the design methods of passive exoskeleton is proposed. The design parameters are optimized to satisfy the joint torques. In order to satisfy more rehabilitation needs, the exoskeleton's driving mechanism is designed anthropopathy. Based on three-dimensional parametric software Pro/E, the rehabilitation exoskeleton model is established and design parameters are given in detail.
Then, for the characteristic of free movement in indoor environment, the rehabilitation robot wireless information collection system included upper and lower machine is completed. Pro/E models and evaluation methods for rehabilitation assessment has also been built. A primary experiment with unilateral passive exoskeleton in healthy volunteers is built to test the usefulness of the information collection system.
Finally, the exoskeleton passive rehabilitation control strategy was studied. Depending on the speed of movement of lower limb, the normalized joint angle parameter equation is given in paper. Based on the control model of driver, a controller is established and tested in simulation environment.
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