外骨骼式手部康复机器人控制系统与策略分析-control system and strategy analysis of exoskeleton hand rehabilitation robot.docx

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2018-08-07 发布于上海
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外骨骼式手部康复机器人控制系统与策略分析-control system and strategy analysis of exoskeleton hand rehabilitation robot.docx

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外骨骼式手部康复机器人控制系统与策略分析-control system and strategy analysis of exoskeleton hand rehabilitation robot

AbstractHandisoneofthemostimportantorgansforhumans,itplaysanirreplaceableroleinhuman’sdailylife.Handmovementdysfunctioncausedbycentralnerveinjuryafterstrokeaffectsalottothepatient’sdailylife,heorshemayneedrehabilitationtrainingtoregainhandsmovementfunction.Withthedevelopmentofrobotictechnology,robot-assistedrehabilitationforbendingandextendingmovementsforthepatient’shandhasbecomearesearchfocusfornumerousmedicalresearchinstitutes.Afteranalyzingrehabilitationtheoryandresearchcurrentsituation,thisthesismeritsanddrawbacksofvariouscontrolscheme.Thenrehabilitationprincipleandresearchschemeisintroducedandmechanicalsystemoftheexoskeletonhandrehabilitationispresented.Thereafter,thehardwareconfigurationandcomposingisexplainedparticularly,includingsingle-chipsystemdesign,motor-drivercontrolsystemdesign,sensoracquisitionsystemdesignandCommunication-PMUsystemdesign.Inordertoprovidepatientswithportableanduser-friendlydevice,thisthesisissupposedtodevelophuman-machineinteractionrehabilitationsoftwarebasedonAndroidsystem,includingtheuserinteractivelayer,dataaccesslayer,virtualrealityrehabilitationtraininglayer,andindividualrehabilitationlayer.ThesoftwarecancontrolrobotthroughBluetoothandreal-timedisplaytheparametersofrehabilitationinthechartcollectedfromthecontrolsystem.Thesoftwarealsocanusingvirtualrealitytechnologytobuildscenerywhichisplayingthepianobyafingertoinducepatientstotakerehabilitationtraining,thiscouldimprovepatients’rehabilitationresults.Thisthesisproposestwobasicmodeofrehabilitationwhichisactivecontrolmodeandpassivecontrolmodebaseonanalyzingkinematicsanddynamicsofthehandrehabilitationexoskeleton.Inthecontrolsystem,thetworehabilitationmodesareauto-switchedbyforcesensorslocatedintipofthefinger.Onthisbasisthisthesisdevelopanactiveinducecontrolsystembycombiningthehuman-machineinteractionrehabilitationsoftwaretoinducepatientstoenjoytherehabilitationtrainingtoimprovetheirrehabilitationresults.Theexperimentalplatformfortheexoskeletonhandrehabilitationisconstructedtotesttheper