【作者】 佟杰；

【导师】 王岚；

【作者基本信息】 哈尔滨工程大学 ， 机械电子工程， 2007， 硕士

【摘要】 将机器人辅助治疗技术引入到偏瘫康复训练中，已经逐渐得到国内外研究人员的重视，并发展成为热门课题之一。其难点主要集中于运动康复训练方法如何通过机器人的控制策略得以实现。而我国在康复工程领域的研究刚刚起步，因此课题的研究更具有实际应用意义。本论文从国内外上肢康复训练机器人的发展现状及应用、机器人机构设计和控制模式等方面，分析了机器人辅助上肢运动功能康复的可行性和方法的实现，具体研究如下：本文依据康复机器人的应用对象和偏瘫康复理论，确定了机器人的设计目标和控制系统方案，并对机器人系统的关键技术进行了研究和论述，包括，安全性设计、力传感器特性研究以及传动机构对控制精度的影响问题，同时利用MATLAB软件解算操作臂的运动域。在此基础上，确定了康复机器人的控制算法和策略，机器人主要能完成轨迹跟踪控制、力示教再现控制、采用力外环的阻抗控制和抗阻运动控制，分别设计了这四种训练模式的具体实施策略，并建立了控制模型。基于理论研究，利用dSPACE实时仿真平台进行了康复机器人的半实物仿真设计。将康复机器人系统引入控制回路，将实现各模式的控制模型、力信号处理模型、位置初始化模型等转化为Simulink与RTI联系的仿真模型，并令其成为相对独立的模块，确定各模块间的相互关系，同时对驱动电机伺服系统进行了模型辨识。此后，对正常人进行了机器人辅助训练的实验。分别对各种训练模式进行实验研究，实时调整控制参数，监测机器人系统的状态并反馈机器人的信息，对实验结果进行分析和评价。更多还原

【Abstract】 The therapy technology of hemiplegia rehabilitation aided by robot has gradually acquired the recognition of the native and abroad researchers, and it is becoming one of the hottest subjects. The difficulties of these studies mainly focus on how to realize the training means of rehabilitation via robot controlling. Since the study in the field of rehabilitation engineering in our country is inchoate, the research is practical.This paper systematically overviews the development situation and application of the upper limbs rehabilitation robot. Together with the organ design and control mode, it analyzes the feasibility of the aided-robot for upper-limb-motor rehabilitation and the way to realize it. The concrete researches are as follows:According as the application objects and hemiplegia rehabilitation theory, it is confirmed the design arm and the control system scheme. The key technologies of the robot system are studied and presented, including the security design, the characteristic of the force sensor, the influence caused by the transmission organ toward the control precision. At the meantime, it calculates the motion region of robot’s operation arm using the MATLAB. On the basis of above, it confirms the control algorithm and the strategy of rehabilitation robot. The robot can basically accomplish the trajectory tracking, force teaching and reappearance, impedance control adopting the force outer loop and resistance motion. The material methods of the four kinds of training mode are respectively achieved, and the control model is established.Based on the dSPACE real-time platform, the HIL simulation is designed. Here the robot system is located in the control loop. The control model actualizing all kinds of modes, force signal model and position initialization model are all translated into the simulation models. These models are independent to each other and relate the Simulink with the RTI. Finally, through training the healthy subjects by robot, the feasibility of rehabilitation training with robot’s aid is proved elementarily. With the control parameters momentarily adjusted and the feedback information, the results of the experiments are attained. Then the results are analyzed and estimated.更多还原