抑制手部震颤的助餐机器人设计及控制分析-design and control analysis of food aid robot for restraining hand tremor.docxVIP

抑制手部震颤的助餐机器人设计及控制研究摘要震颤是一种常见的神经科疾病，特别是病理性震颤如原发性震颤(ET)、 帕金森病(PD)等。震颤虽然不危害生命，但是却给众多的患者带来了生活上 的不便，严重的甚至可以导致患者的生活不能自理，如餐饮等。目前对震颤 的治疗主要集中在药物治疗，但药物治疗的效果并不尽人意并且带有副作用， 因此近几年国内外科研人员尝试通过非药物途径，综合利用机器人技术研制 开发抑制震颤的装置，帮助肢体震颤患者克服震颤恢复运动能力，已初步得 到医学界及震颤患者的认可。本文利用人机结合技术研制一种抑制手部震颤的助餐机器人，主要为帮 助因震颤无法进餐的患者可以自主进行就餐摆脱他人照顾，提高其生活质量。 该抑制震颤的助餐机器人主要利用经过滤波器滤波后得到的实时性正常运动 信号，用正常运动信号控制各关节电机旋转进而控制末端餐勺运动达到抑制 震颤助餐的目的。人体手部运动信号通常是正常运动信号和震颤运动信号的 耦合，由于震颤运动信号的随机性对震颤信号的建模比较困难，因此本文利 用正常运动信号和震颤运动信号所处的频率带不同，可以利用滤波器对信号 进行分离，但由于传统的滤波器具有延迟缺陷，达不到实时性的要求，因此 利用人体震颤信号为近似正弦信号的特点，设计预估震颤算法加滤波器的自 适应滤波器来分离正常运动信号和震颤运动信号，将所得到的正常运动信号 作为控制驱动电机的信号，控制各电机旋转进而控制末端餐勺以不同的速度 按照已定的运动轨迹运动，达到抑制震颤助餐的目的。本文设计了抑制震颤助餐机器人的机械结构，并分析了震颤特点对肢体 信号进行分离控制，通过正常运动信号对电机的控制完成进餐过程。关键词 助餐机器人；运动学；控制策略；抑制震颤；信号分离控制；Design and Control of Hand Tremor Suppression for Meal Assistance Robot AbstractTremor especially the pathological tremor such as essential tremor (ET) and Parkinson disease (PD) associated with human body movement, is a common neurological disease. Although the tremor didn’t endanger lives, it could bring many lives inconvenience for many patients. Seriously it could result in patients losing the self-care ability, such as feeding themselves. Currently medication is the key approach to treat it. But the effect of the medications is not satisfactory and has side effects. So in recent years, the domestic and foreign researchers attempt to develop the device for tremor suppression by the non-drug approach using robot technology. These devices have been designed to help the patients with limb tremor to overcome the tremor and restore mobility and have been preliminarily accepted by medical profession and patients.In the thesis a kind of meal assistance robot based on hand tremor suppression was developed using the man-machine combination technology. The robots are aimed to help the patients who cannot feed themselves due to hand tremor to eat by themselves and to improve the quality of their lives. The meal assistance robot based on tremor suppression