减重式步态康复训练机器人控制及实验研究
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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。本文介绍了康复训练机器人、减重控制系统以及步态分析测量的国内外发展现状和趋势。依据下肢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。具体研究如下:
本文通过图像采集和人体关节角度测量装置,对下肢各关节的运动参数进行了实时测量和分析研究,并在重心轨迹测量实验中获得与步态训练系统协调的重心轨迹,这为减重式步态康复训练机器人的控制系统提供了必要的理论依据和参数。
基于理论研究,利用dSPACE实时仿真平台进行了减重系统的半实物仿真设计。将减重系统引入控制回路,设计了减重系统控制器,根据患者的康复程度,为患者选取合适的减重量。
最后,在LabVIEW的开发环境中完成了减重控制系统的软件设计和实验研究。完善了减重式步态康复训练机器人控制系统软件,实现从步态训练系统初始化、减重系统标定、跟踪运动到数据实时采集显示整套系统的控制和运行。
The therapy technology of hemiplegia rehabilitation aided by robot has gradually acquired the recognition of the home and abroad researchers, and it is becoming one of the hottest subjects. The paper systematically overviews the current status and the trend of these fields of Rehabilitative Robot, Body Weight Support System and Human Gait Analysis. According as the application objects and hemiplegia rehabilitation theory, it is confirmed the design aim and the control system scheme. The key technologies of the robot system are studied and presented. The concrete researches are as follows:
According to the image detection system and the angular real-time measuring instrument, we measured and analyze the motion parameter of the lower limbs, as well as the experiment on the harmonious trajectory of the barycenter. The analysis results provide the theoretic basis and the essential data for the further study on the control system of the BWS and Gait Rehabilitative Robot.
Based on the dSPACE real-time platform, the HIL simulation is designed. Here Body Weight Support System is located in the control loop. We designed the controller of the BWS. According to the progress of the rehabilitation, we can adopt the appropriate weight support for the patient.
Finally, based on the LabVIEW environment, we finished the software design for the control of the BWS as well as its experimental research, and improved the software of the control system of the BWS and Gait Rehabilitative Robot. Processing the initialization of Gait Training System, Weight Support System demarcate, the following motion between them, the real-time acquisition and display of the experimental data, we can accomplish the control and execution of the whole system.
本文通过图像采集和人体关节角度测量装置,对下肢各关节的运动参数进行了实时测量和分析研究,并在重心轨迹测量实验中获得与步态训练系统协调的重心轨迹,这为减重式步态康复训练机器人的控制系统提供了必要的理论依据和参数。
基于理论研究,利用dSPACE实时仿真平台进行了减重系统的半实物仿真设计。将减重系统引入控制回路,设计了减重系统控制器,根据患者的康复程度,为患者选取合适的减重量。
最后,在LabVIEW的开发环境中完成了减重控制系统的软件设计和实验研究。完善了减重式步态康复训练机器人控制系统软件,实现从步态训练系统初始化、减重系统标定、跟踪运动到数据实时采集显示整套系统的控制和运行。
The therapy technology of hemiplegia rehabilitation aided by robot has gradually acquired the recognition of the home and abroad researchers, and it is becoming one of the hottest subjects. The paper systematically overviews the current status and the trend of these fields of Rehabilitative Robot, Body Weight Support System and Human Gait Analysis. According as the application objects and hemiplegia rehabilitation theory, it is confirmed the design aim and the control system scheme. The key technologies of the robot system are studied and presented. The concrete researches are as follows:
According to the image detection system and the angular real-time measuring instrument, we measured and analyze the motion parameter of the lower limbs, as well as the experiment on the harmonious trajectory of the barycenter. The analysis results provide the theoretic basis and the essential data for the further study on the control system of the BWS and Gait Rehabilitative Robot.
Based on the dSPACE real-time platform, the HIL simulation is designed. Here Body Weight Support System is located in the control loop. We designed the controller of the BWS. According to the progress of the rehabilitation, we can adopt the appropriate weight support for the patient.
Finally, based on the LabVIEW environment, we finished the software design for the control of the BWS as well as its experimental research, and improved the software of the control system of the BWS and Gait Rehabilitative Robot. Processing the initialization of Gait Training System, Weight Support System demarcate, the following motion between them, the real-time acquisition and display of the experimental data, we can accomplish the control and execution of the whole system.
引文
[1]张济川,金德闻.我国康复工程事业发展面临的机遇和挑战.中国康复医学杂志.2005,20(4):288-289页
[2]张子明.中风临床指南.北京:中国医药科技出版社,1993:15-16页
[3]张济川,金德闻.新技术在康复工程中的应用和展望.中国康复医学杂志.2003,18(6):352-354页
[4]任宇鹏,王广志,高小榕,季林红.机器人辅助运动功能康复中的控制和评估策略.机器人技术与应用.2003,4,40-44页
[5]张付祥,付宜利,王树国.康复机器人研究进展.河北工业科技.2005,22(2):100-105页
[6]Aisen ML,Krebs HI,Hogan N,et al.The effect of robot-assisted therapy and rehabilitative training on motor recovery following stroke.Arch Neurol.1997,54:443-446P
[7]Fasoli SE,Krebs HI.Stein J,et al.Effects of robotic therapy on motor impairment and recovery in chronic stroke.Arch Phys Med Rehabil.2003,84:477-482P
[8]PRIOR S D,WARNER P R.A review of world rehabilitation robotics research[J].Colloquium on High-Tech Help for the Handicapped.1990,(4):1-3P
[9]Jaspers P,Van Petegem W,Van der Perre G,et al.Development of a low-cost FES-bicycle system.Proceedings,Annual International Conference of the IEEE Engineering in Medicine and Biology,1996:35-39P
[10]Jaspers P,Van Petegem W,Van der Perre G,et al.Design of an automatic step intention system for a hybrid gait orthosis.Proceedings,Annual International Conference of the IEEE Engineering in Medicine and Biology,1996:68-72P
[11]Jaspers P,Van Petegem W,Van der Perre G,et al.Optimization of a combined ARGO-FES system:Adaptation of the knee mechanism to allow flexion of the knee during the swing phase.Proceedings,Annual International Conference of the IEEE Engineering in Medicine and Biology,1995:71-74P
[12] KHALILI K, ZOMLEFER M. An intelligent robotic system for rehabilitation of Joints and rstimation of body degment parameters. IEEE Transaction on Biomedical Engineering,1988(2):138-146P
[13] Hesse S, Jahnke MT, Schaffrin A, et al. Immediate effects of therapeutic facilitation on the gait of hemiparetic patients as compared with walking with and without a cane. Electroencephalogr Clin Neurophysiol,1998:515-522P
[14] Hesse S, Konrad M, Uhlenbrock D. Treadmill walking with partial body weight support versus floor walking in hemiparetic subjects. Arch Phys Med Rehabil,1999:421-427P
[15] Tyson SF. The support taken through walking aids during hemiplegic gait.Clin Rehabil, 1998(12):395-401P
[16] Henning Schmidt, Cordula Werner, Rolf Bernhardt, Stefan Hesse. Gait rehabilitation machines based on programmable footplates. Journal of NeuroEngineering and Rehabilitation,2007(2):25-28P
[17] Emken, J.L Reinkensmsyer, D.J. Adapting with smaller errors: A robotic motor training strategy that assists only as needed. Society for Neuroscience,Washington D.C, 2005:56-70P
[18] Kathryn J. Siranosian, M. S. Unique Combination of Body-Weight Supported Ambulation And Robotics Helps Patients Recover Natural Walking Motion. Special Hospital Feature,2006:43-47P
[19] J. Furusho. Mechatronics system using ER fluids(review paper). Japan Hydraulics and Pneumatic Society, 2001(6):390-395P
[20] Deutsch,J. J. Latonio, G Burdea and R. Boian. Post-stroke Rehabilitation with the Rutgers Ankle System-A Case Study. Presence: Teleoperators & Virtual Environment,2001(4):416-430P
[21] Margaret H, Margaret HSR. Suspension therapy in rehabilitation. Baltimore:Williams and Wilkins,1958:143-145P
[22] Suteerawattananon, Betty, Elizabeth. Supported treadmill training for gait and balance in a patient with progressive supranuclear palsy. Phys Ther,2002(5):485-495P
[23] Danielsson A, Sunnerhagen KS. Oxygen consumption during treadmill walking with and without body weight support in patients with hemiparesis after stroke and in healthy subjects.Arch Phys Med Rehabil,2000(7):953-957P
[24]Hesse S,Konrad M,Uhlenbrock K.Treadmill walking with partial body weight support versus floor walking in himiparetic subjects.Arch Phys Med Rehabil,1999(4):421-427P
[25]Visintin M,Barbeau H,Korner-Bitensky N,MayoNE.A new approach to retrain gajt in stroke patients through body weight support and treadmill stimulation.Stroke,1998(6):22-28P
[26]Colby SM,Kirkendall DT,Bruzga RF.Electromyographic analysis and energy expenditure of harness supported treadmill Walking:implications for knee rehabilitation.Gait Posture,1999(3):200-205P
[27]Mackay-Lyons M,Makrides L.Speth S.Effect of 15%body weight support on exercise capacity of adults without impairments.Phys Ther,2001(11):1790-1800P
[28]朱洪翔,窦祖林.减重支持系统应用研究新进展.中国康复医学杂志,2003(8):505-507页
[29]GORDON,Keith,E,SVENDSEN,Bjorn.Patient:CLOSED-LOOP FORCE CONTROLLED BODY WEIGHT SUPPORT SYSTEM.World Intellectual Property Organization.2003(3):67-70P
[30]Martin Frey,Gery Colombo,Martino Vaglio,Rainer Bucher,Robert Riener.A Novel Mechatronic Body Weight Support System.IEEE TRANSACTIONS ON NEURAL SYSTEMS AND SYSTEMS AND REHABILITATION ENGINEERING.2006(3):311-321P
[31]窦祖林,陶勤丰,李奎.减重支持系统:中风患者平衡与步态训练的新方法.中国康复医学杂志.2001(2):118-119P
[32]Finch L,Barbeau H,Arsenault B.Influence of body weight support on normal human gait:development of a gait retraining strategy.Phys Ther,1991(2):842-845P
[33]Svendsen B.Treatment of the hemiplegic patient;new strategies for gait training.Physical Therapy Products,1996(3):32-34P
[34]杨年峰.人体运动协调规律及其参数化描述.清华大学博士学位论 文.2001:3-4页,25-26页.
[35]Mann RW,et al.Gait analysis-precise,rapid automatic,3-D position and orientation,kinematic and dynamic.Bull Hesp Jt Dis Orrhop Inst,1983(43):137-146P
[36]王人成,冯丽爽,黄昌华.一种新型人体运动图像实时分析系统.中国康复医学杂志,2002(3):165-167页
[37]丁海曙,容观澳,王广志.人体运动信息检测与处理.宇航出版社,1992(7):27-31页
[38]温淑慧.一种电容式加速度传感器设计的研究.传感技术学报.2005(2):22-26页
[39]周华,朱均,徐华.数学式MEMS加速度传感器ADXL202即应用.元器件与应用.2004(3):12-16页
[40]张峥.惯性步态测量系统的研究.武汉理工大学硕士学位论文.2006:46-47页
[41]陈大跃,丁洪,周新宇.人体行走的步态测试与分析系统.中国生物医学工程学报.1997,16(2):131-141页
[42]王人成,董华,黄昌华.低成本人体步态在线检测系统.清华大学学报(自然科学版).2002,42(2):165-167页
[43]颜庆.下肢康复机器人控制及实验研究.哈尔滨工程大学学位论文。2004:14-15页.
[44]魏丹.基于Internet的肢体康复训练机器人远程控制系统.哈尔滨工程大学学位论文.2007:14-16页.
[45]张今瑜,王岚,张立勋.基于多传感器的实时步态检测研究.哈尔滨工程大学学报.2007,28(2):218-221页
[46]马新娟.基于视频处理的下肢运动分析及试验研究.哈尔滨工程大学学位论文.2007:24-29页
[47]吴进华,刘洪兴,史贤俊.dSPACE仿真平台的实时仿真原理研究及其应用.电子测量与仪器学报.2004:720-724页
[48]潘峰,薛定宇,徐心和.基于dSPACE半实物仿真技术的伺服控制研究与应用.系统仿真学报.2004,16(5):936-939页
[49]田广来,谢利理.航空机轮刹车系统的半实物仿真实现.航空精密制造技术.2006,42(3):28-31页
[50]赵凌燕.人行走过程中骨盆三维运动轨迹的实验研究.哈尔滨工程大学学位论文.2005:51-54页
[51]刘金琨著.先进PID控制MATLAB仿真(第2版).北京:电子工业出版社,2004:47-48页.
[52]杨乐平,李海涛,杨磊等主编.LabVIEW程序设计与应用(第2版).北京:电子工业出版社,2005:4-5页.
[2]张子明.中风临床指南.北京:中国医药科技出版社,1993:15-16页
[3]张济川,金德闻.新技术在康复工程中的应用和展望.中国康复医学杂志.2003,18(6):352-354页
[4]任宇鹏,王广志,高小榕,季林红.机器人辅助运动功能康复中的控制和评估策略.机器人技术与应用.2003,4,40-44页
[5]张付祥,付宜利,王树国.康复机器人研究进展.河北工业科技.2005,22(2):100-105页
[6]Aisen ML,Krebs HI,Hogan N,et al.The effect of robot-assisted therapy and rehabilitative training on motor recovery following stroke.Arch Neurol.1997,54:443-446P
[7]Fasoli SE,Krebs HI.Stein J,et al.Effects of robotic therapy on motor impairment and recovery in chronic stroke.Arch Phys Med Rehabil.2003,84:477-482P
[8]PRIOR S D,WARNER P R.A review of world rehabilitation robotics research[J].Colloquium on High-Tech Help for the Handicapped.1990,(4):1-3P
[9]Jaspers P,Van Petegem W,Van der Perre G,et al.Development of a low-cost FES-bicycle system.Proceedings,Annual International Conference of the IEEE Engineering in Medicine and Biology,1996:35-39P
[10]Jaspers P,Van Petegem W,Van der Perre G,et al.Design of an automatic step intention system for a hybrid gait orthosis.Proceedings,Annual International Conference of the IEEE Engineering in Medicine and Biology,1996:68-72P
[11]Jaspers P,Van Petegem W,Van der Perre G,et al.Optimization of a combined ARGO-FES system:Adaptation of the knee mechanism to allow flexion of the knee during the swing phase.Proceedings,Annual International Conference of the IEEE Engineering in Medicine and Biology,1995:71-74P
[12] KHALILI K, ZOMLEFER M. An intelligent robotic system for rehabilitation of Joints and rstimation of body degment parameters. IEEE Transaction on Biomedical Engineering,1988(2):138-146P
[13] Hesse S, Jahnke MT, Schaffrin A, et al. Immediate effects of therapeutic facilitation on the gait of hemiparetic patients as compared with walking with and without a cane. Electroencephalogr Clin Neurophysiol,1998:515-522P
[14] Hesse S, Konrad M, Uhlenbrock D. Treadmill walking with partial body weight support versus floor walking in hemiparetic subjects. Arch Phys Med Rehabil,1999:421-427P
[15] Tyson SF. The support taken through walking aids during hemiplegic gait.Clin Rehabil, 1998(12):395-401P
[16] Henning Schmidt, Cordula Werner, Rolf Bernhardt, Stefan Hesse. Gait rehabilitation machines based on programmable footplates. Journal of NeuroEngineering and Rehabilitation,2007(2):25-28P
[17] Emken, J.L Reinkensmsyer, D.J. Adapting with smaller errors: A robotic motor training strategy that assists only as needed. Society for Neuroscience,Washington D.C, 2005:56-70P
[18] Kathryn J. Siranosian, M. S. Unique Combination of Body-Weight Supported Ambulation And Robotics Helps Patients Recover Natural Walking Motion. Special Hospital Feature,2006:43-47P
[19] J. Furusho. Mechatronics system using ER fluids(review paper). Japan Hydraulics and Pneumatic Society, 2001(6):390-395P
[20] Deutsch,J. J. Latonio, G Burdea and R. Boian. Post-stroke Rehabilitation with the Rutgers Ankle System-A Case Study. Presence: Teleoperators & Virtual Environment,2001(4):416-430P
[21] Margaret H, Margaret HSR. Suspension therapy in rehabilitation. Baltimore:Williams and Wilkins,1958:143-145P
[22] Suteerawattananon, Betty, Elizabeth. Supported treadmill training for gait and balance in a patient with progressive supranuclear palsy. Phys Ther,2002(5):485-495P
[23] Danielsson A, Sunnerhagen KS. Oxygen consumption during treadmill walking with and without body weight support in patients with hemiparesis after stroke and in healthy subjects.Arch Phys Med Rehabil,2000(7):953-957P
[24]Hesse S,Konrad M,Uhlenbrock K.Treadmill walking with partial body weight support versus floor walking in himiparetic subjects.Arch Phys Med Rehabil,1999(4):421-427P
[25]Visintin M,Barbeau H,Korner-Bitensky N,MayoNE.A new approach to retrain gajt in stroke patients through body weight support and treadmill stimulation.Stroke,1998(6):22-28P
[26]Colby SM,Kirkendall DT,Bruzga RF.Electromyographic analysis and energy expenditure of harness supported treadmill Walking:implications for knee rehabilitation.Gait Posture,1999(3):200-205P
[27]Mackay-Lyons M,Makrides L.Speth S.Effect of 15%body weight support on exercise capacity of adults without impairments.Phys Ther,2001(11):1790-1800P
[28]朱洪翔,窦祖林.减重支持系统应用研究新进展.中国康复医学杂志,2003(8):505-507页
[29]GORDON,Keith,E,SVENDSEN,Bjorn.Patient:CLOSED-LOOP FORCE CONTROLLED BODY WEIGHT SUPPORT SYSTEM.World Intellectual Property Organization.2003(3):67-70P
[30]Martin Frey,Gery Colombo,Martino Vaglio,Rainer Bucher,Robert Riener.A Novel Mechatronic Body Weight Support System.IEEE TRANSACTIONS ON NEURAL SYSTEMS AND SYSTEMS AND REHABILITATION ENGINEERING.2006(3):311-321P
[31]窦祖林,陶勤丰,李奎.减重支持系统:中风患者平衡与步态训练的新方法.中国康复医学杂志.2001(2):118-119P
[32]Finch L,Barbeau H,Arsenault B.Influence of body weight support on normal human gait:development of a gait retraining strategy.Phys Ther,1991(2):842-845P
[33]Svendsen B.Treatment of the hemiplegic patient;new strategies for gait training.Physical Therapy Products,1996(3):32-34P
[34]杨年峰.人体运动协调规律及其参数化描述.清华大学博士学位论 文.2001:3-4页,25-26页.
[35]Mann RW,et al.Gait analysis-precise,rapid automatic,3-D position and orientation,kinematic and dynamic.Bull Hesp Jt Dis Orrhop Inst,1983(43):137-146P
[36]王人成,冯丽爽,黄昌华.一种新型人体运动图像实时分析系统.中国康复医学杂志,2002(3):165-167页
[37]丁海曙,容观澳,王广志.人体运动信息检测与处理.宇航出版社,1992(7):27-31页
[38]温淑慧.一种电容式加速度传感器设计的研究.传感技术学报.2005(2):22-26页
[39]周华,朱均,徐华.数学式MEMS加速度传感器ADXL202即应用.元器件与应用.2004(3):12-16页
[40]张峥.惯性步态测量系统的研究.武汉理工大学硕士学位论文.2006:46-47页
[41]陈大跃,丁洪,周新宇.人体行走的步态测试与分析系统.中国生物医学工程学报.1997,16(2):131-141页
[42]王人成,董华,黄昌华.低成本人体步态在线检测系统.清华大学学报(自然科学版).2002,42(2):165-167页
[43]颜庆.下肢康复机器人控制及实验研究.哈尔滨工程大学学位论文。2004:14-15页.
[44]魏丹.基于Internet的肢体康复训练机器人远程控制系统.哈尔滨工程大学学位论文.2007:14-16页.
[45]张今瑜,王岚,张立勋.基于多传感器的实时步态检测研究.哈尔滨工程大学学报.2007,28(2):218-221页
[46]马新娟.基于视频处理的下肢运动分析及试验研究.哈尔滨工程大学学位论文.2007:24-29页
[47]吴进华,刘洪兴,史贤俊.dSPACE仿真平台的实时仿真原理研究及其应用.电子测量与仪器学报.2004:720-724页
[48]潘峰,薛定宇,徐心和.基于dSPACE半实物仿真技术的伺服控制研究与应用.系统仿真学报.2004,16(5):936-939页
[49]田广来,谢利理.航空机轮刹车系统的半实物仿真实现.航空精密制造技术.2006,42(3):28-31页
[50]赵凌燕.人行走过程中骨盆三维运动轨迹的实验研究.哈尔滨工程大学学位论文.2005:51-54页
[51]刘金琨著.先进PID控制MATLAB仿真(第2版).北京:电子工业出版社,2004:47-48页.
[52]杨乐平,李海涛,杨磊等主编.LabVIEW程序设计与应用(第2版).北京:电子工业出版社,2005:4-5页.