【作者】 沈金虎；

【导师】 孙柏青；

【作者基本信息】 沈阳工业大学 ， 电力电子与电力传动， 2012， 硕士

【摘要】 二十一世纪以来,世界人口老龄化趋势的不断加剧。在老龄人群中有大量的脑血管疾病及神经系统疾病患者,多数存在下肢运动功能障碍。临床医学理论证明,除了早期的手术和药物治疗外,正确、科学的下肢康复训练对这些患者的下肢运动功能恢复发挥着重要的作用。及时、准确地获取下肢运动功能障碍患者的步态信息,并对其步态特征进行分析,是对其进行科学下肢行走康复训练的基础和必要前提。为了获取受试者的步态信息,本研究设计了一种基于全方向下肢康复训练机器人的超声波步态检测系统,用来获取受试者的步态信息。同时,根据获得的步态信息提出了步态对称性指标,分析受试者在行走过程中左右腿的步态对称性,并通过模拟检测实验,验证检测系统的设计和利用步态对称性指标分析步态对称性方法的正确性。超声波步态检测系统安装在全方向下肢康复训练机器人平台内侧。首先,检测受试者在行走过程中左右腿与检测平台之间的距离数据,计算受试者行走时的步长、步速、步频等步态参数。通过对检测数据获取的步态参数与实际步态参数进行比较分析,验证了超声波步态检测系统的可行性和准确性。进而利用实验装置获取的距离数据对受试者的下肢步态对称性进行了分析研究,提出了基于距离数据的步态对称性指标,分析受试者步态对称性。通过对不同的下肢运动功能障碍患者的多种模拟实验,获取其步态信息,根据不同的步态对称性指标分析不同模拟情况的步态对称性,并利用提出的对称性指标对受试者的步态对称性进行评估,验证步态对称性指标分析方法的有效性和正确性。更多还原

【Abstract】 In recent years,it is gradually increasing that the aging phenomenon of the world’s population. Some of this aging population, who has suffered from lower limbs motion dysfunction, are of cerebrovascular disease or neurological. Clinical theory proves that, in addition to early surgery and medical treatment, correct and scientific rehabilitation training plays an important role for these groups. It is highly essential and important that timely and accurately obtaining and analyzing the gait information of subjects for scientific rehabilitation training.In order to obtain the gait information of subjects, an ultrasonic gait detection system is designed based on the omni-directional rehabilitation robot. Moreover, a number of gait symmetry index are proposed to analyze walking symmetry of subjects. The effectiveness of the designation of ultrasonic gait detection system and the method of using gait symmetry index to analyze the gait symmetry of subjects are proved.The ultrasonic detection system is installed in the front of omni-directional rehabilitation robot. First, the distance from the right and left legs of subjects to ultrasonic sensors can be detected, series of gait parameters are computed including step length, speed, frequency, then the walking symmetry of subjects between two lower limbs can be analyzed. The extracted gait parameters from detected data and real gait parameters are computed, the results show that the ultrasonic gait detection system can get gait parameters effectively. For the gait symmetry analysis of subjects from the experiments, series of different gait symmetry index are proposed to analysis walking symmetry of subjects, these symmetry index are calculated based on detected gait data from some different simulation experiments of subjects with lower limbs motion dysfunction. According to the different gait symmetry index, the gait walking symmetry of subjects can be evaluated, and then the effectiveness of the method that gait symmetry analysis is validated.更多还原