手部功能康复机器人电气控制系统的设计与研究
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摘要
脑卒中患病率高，是导致手功能受损的一个主要原因，脑卒中后手部肢体偏瘫的治疗和康复已经成为现代康复医学和康复工程的研究热点。目前国内外对于因脑卒中引起的手部偏瘫运动功能损失的改善和康复治疗，主要采用的方法是通过修复或重塑受损神经，加强肌肉肌腱的强度锻炼，完成运动学习来复原或改善患手的运动功能。在各种手部功能康复手段和方法中，机器人辅助康复疗法被广泛采用。手部功能康复机器人作为机器人辅助康复设备的一种，其主要任务是辅助手部关节及手指完成弯曲伸展康复训练。本文针对脑卒中后手部运动功能的康复，对手部功能康复机器人电气控制系统进行了设计和研究。
作者首先分析了手部功能康复机器人国内外研究发展现状，总结了在电气控制系统方面存在的不足和缺陷。接着总体概述了手部功能康复机器人机械和电气控制系统的组成，在分析了人手生物运动特性和康复医疗训练策略的基础上，设计了手部功能康复机器人基于患者表现逐步辅助的训练控制策略。
本文随后详细阐述了康复机器人电气系统的硬件组成及设计实现过程，完成了基于NiosⅡ软核的处理系统、基于PwM控制原理的多路直流电机驱动器、传感器数据采集、人机交互及电源管理五个子系统的设计，整个电气硬件系统具有集成度高、微型化的特点，满足了康复机机器人便携性的要求。
其次，详细阐述了康复机器人基于扰动观测器的PID鲁棒控制方法的设计过程，介绍了康复机器人控制系统结构，然后分别建立了驱动电机和机械负载的数学模型，接着在讨论康复机器人典型PID控制方法的基础上，提出了手部功能康复机器人基于扰动观测器的PID鲁棒控制方法，设计了扰动观测器和低通滤波器，该控制方法能有效地抑制康复机器人运行时来自手部的干扰，从而提高控制系统的鲁棒性，并利用MATLAB软件对系统进行仿真分析，通过仿真实验验证了控制器和控制算法的有效性。
本文最后对设计完成的手部功能康复机器人电气控制系统进行性能测试，通过实验验证了各功能模块的可行性和可靠性。实验中获取的电气性能参数和控制性能参数是手部功能康复机器人性能指标评估和进一步优化改进的重要依据，同时实验数据为后续的临床实验提供了参考依据。
The prevalence rate of stroke has become especially high in modern society, and it is the major cause of human hand disfunctions. The research of human hand function rehabilitation and treatment therapy after stroke has already been a hot research topic in modern rehabilitation medicine and rehabilitation engineering. Nowadays, the prevalent treatment therapy for the rehabilitation of hemiplegic motor disfunctions of human hand after stroke is repairing or rebuilding the damaged nerve related to hand motor function, which can be achieved through intense hand exercise and repeatedly motor learning. Also, the robot-assisted rehabilitation therapy is widely used among the numerous means and rehabilitation methods, as a new and effective kind of robot-assisted rehabilitation equipment, hand rehabilitation robot can be used to assist the hand joints to stretch and bent during rehabilitation training process.
In this paper, a novel electric and control system for a hand rehabilitation robot are presented, which include the design of real-time mission processing based on FPGA, multiple DC motor drives, data acquisition, human-computer interaction and power management subordinate systems. The whole system is highly integrated and minimized, which can be used conveniently.
First of all, this thesis analyzes the current research status of hand function rehabilitation robot both at home and abroad, and points out the shortcomings and deficiencies existing in the electrical and control system. Then a general overview of the hand function rehabilitation robot mechanical and electrical control system is given, and a novel performance-based progressive assistance control strategy is represented based on the analysis of human hand biological motion characteristics and medical rehabilitation.
Secondly, the design and implementation process of the rehabilitation robot control system hardware components is described in detail, including the NiosⅡsoft-core process system, multiple DC motor drives based on PWM, sensor data collector, human-computer interaction and power management subsystems.
Thirdly, the design process of a hand rehabilitation robot robust PID control method based on disturbance observer is represented in detail. The mathematical models of drive motor and mechanical load are established, then a typical PID control method for hand rehabilitation robot is discussed, in order to overcome the drawbacks of the typical PID control method, a hand rehabilitation robot robust PID control method based on disturbance observer which can suppress the disturbance from hand during runtime is given, the MATLAB simulation results are also presented. The simulation results demonstrate the effectiveness of the controller and control algorithm.
Finally, this thesis gives performance testing results of the completed hand rehabilitation robot control system. These experiments results show the feasibility and reliability of each module. The electric and control performance data obtained from these experiments are the basis of performance evaluation of hand rehabilitation robot, it is also the important reference for future improvement and clinical practice.
作者首先分析了手部功能康复机器人国内外研究发展现状，总结了在电气控制系统方面存在的不足和缺陷。接着总体概述了手部功能康复机器人机械和电气控制系统的组成，在分析了人手生物运动特性和康复医疗训练策略的基础上，设计了手部功能康复机器人基于患者表现逐步辅助的训练控制策略。
本文随后详细阐述了康复机器人电气系统的硬件组成及设计实现过程，完成了基于NiosⅡ软核的处理系统、基于PwM控制原理的多路直流电机驱动器、传感器数据采集、人机交互及电源管理五个子系统的设计，整个电气硬件系统具有集成度高、微型化的特点，满足了康复机机器人便携性的要求。
其次，详细阐述了康复机器人基于扰动观测器的PID鲁棒控制方法的设计过程，介绍了康复机器人控制系统结构，然后分别建立了驱动电机和机械负载的数学模型，接着在讨论康复机器人典型PID控制方法的基础上，提出了手部功能康复机器人基于扰动观测器的PID鲁棒控制方法，设计了扰动观测器和低通滤波器，该控制方法能有效地抑制康复机器人运行时来自手部的干扰，从而提高控制系统的鲁棒性，并利用MATLAB软件对系统进行仿真分析，通过仿真实验验证了控制器和控制算法的有效性。
本文最后对设计完成的手部功能康复机器人电气控制系统进行性能测试，通过实验验证了各功能模块的可行性和可靠性。实验中获取的电气性能参数和控制性能参数是手部功能康复机器人性能指标评估和进一步优化改进的重要依据，同时实验数据为后续的临床实验提供了参考依据。
The prevalence rate of stroke has become especially high in modern society, and it is the major cause of human hand disfunctions. The research of human hand function rehabilitation and treatment therapy after stroke has already been a hot research topic in modern rehabilitation medicine and rehabilitation engineering. Nowadays, the prevalent treatment therapy for the rehabilitation of hemiplegic motor disfunctions of human hand after stroke is repairing or rebuilding the damaged nerve related to hand motor function, which can be achieved through intense hand exercise and repeatedly motor learning. Also, the robot-assisted rehabilitation therapy is widely used among the numerous means and rehabilitation methods, as a new and effective kind of robot-assisted rehabilitation equipment, hand rehabilitation robot can be used to assist the hand joints to stretch and bent during rehabilitation training process.
In this paper, a novel electric and control system for a hand rehabilitation robot are presented, which include the design of real-time mission processing based on FPGA, multiple DC motor drives, data acquisition, human-computer interaction and power management subordinate systems. The whole system is highly integrated and minimized, which can be used conveniently.
First of all, this thesis analyzes the current research status of hand function rehabilitation robot both at home and abroad, and points out the shortcomings and deficiencies existing in the electrical and control system. Then a general overview of the hand function rehabilitation robot mechanical and electrical control system is given, and a novel performance-based progressive assistance control strategy is represented based on the analysis of human hand biological motion characteristics and medical rehabilitation.
Secondly, the design and implementation process of the rehabilitation robot control system hardware components is described in detail, including the NiosⅡsoft-core process system, multiple DC motor drives based on PWM, sensor data collector, human-computer interaction and power management subsystems.
Thirdly, the design process of a hand rehabilitation robot robust PID control method based on disturbance observer is represented in detail. The mathematical models of drive motor and mechanical load are established, then a typical PID control method for hand rehabilitation robot is discussed, in order to overcome the drawbacks of the typical PID control method, a hand rehabilitation robot robust PID control method based on disturbance observer which can suppress the disturbance from hand during runtime is given, the MATLAB simulation results are also presented. The simulation results demonstrate the effectiveness of the controller and control algorithm.
Finally, this thesis gives performance testing results of the completed hand rehabilitation robot control system. These experiments results show the feasibility and reliability of each module. The electric and control performance data obtained from these experiments are the basis of performance evaluation of hand rehabilitation robot, it is also the important reference for future improvement and clinical practice.
引文
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[2]Neville H，Hermano I K Motions or muscles?Some behavioral factorsunderlying robotic assistance of motor recovery[J]The Journal ofRehabilitation Research&Development，2006，43(5)：605-618
[3]Barnes M P, Johnson G R Upper Motor Neuron Syndrome And spasticity：clinical Management And Neurophysiology[M] Cambridge：Cambridge University Press，2008：1-6
[4]王茂斌脑卒中康复研究的进展[J].中国康复医学杂志，2001，16(5)：264- 265
[5]温新义应用作业疗法促进手部功能障碍的康复[J].武汉医学，1994，18(2) 106-107
[6]潘得天，宋建良手部屈肌腱II区损伤后的修复治疗[J].中华手外科杂志，1997，13(4)：216-217
[7]王耀兵，季林红，王广志，等脑神经康复机器人研究的进展与前景[LIll中国康复医学杂志，2003，18(4)：230．231
[8]柴铁劬康复医学[M].上海：上海科学技术出版社，2008：1-9
[9]Krebs H.I，Hogan N.Therapeutic Robotics：A Technology Push[C]IEEE International Conference on Rehabilitation Robotics，2006，94(9)：1727-1738
[10]甘代伟手指康复机械手研究现状[J].广西轻工业，2010，2：39-40
[11]Topping M An Overview-of the Development of Handy 1，a Rehabilitation Robot to Assist the Severely Disabled[J]The Journal of Intelligent and Robotic Systems，2002(34)：253-263
[12]Kawasaki H，Ito S，Ishgure Y,et al Development of a Hand Motion Assist Robot for Rehabilitation Therapy by Patient Self-motion Control[C].IEEE International Conference on Rehabilitation Robotics，2007，6：234-240
[13]Chan young Park，Ju hwan Bae，Inhyuk Moon Development of Wireless Data glove for Unrestricted Upper-extremity Rehabilitation System[C] International Joint Conference．2009：790-793
[14]Takemura K，Harada D，Maeno T.A Master-slave System Using a Multi-DOFUltrasonic Motor and its Controller Designed Considering Measuredd and Simulated Driving Characteristics[c]IEEE International Conference on Intelligent Robots and Systems，2001：1977-1982
[15]Worsnopp T.T, Peshkin M A，Colgate J E，et al An Actuated Finger Exoskeleton for Hand Rehabilitation Following Stroke[C]IEEE International Conference on Rehabilitation Robotics，2007，7：896-901
[16]Wolbrecht E T,Reinkensmeyer D J，Bobrow J E Pneumatic Control of Robots for Rehabilitation[J/OL]The International Jounrnal of Robotics Research，2009[2011-05-16]http：//www sagepub CO uk/journalsPermission S.nav
[17]Marchie A，Clarke M L Lee P H Robe~Salter and His Orgination of the Biological Concept of Continuous Passive Motion(CPM)[J]University of Toronto Medical Journal，2004，81(2)：140-143
[18]Dario P，Guglielmelli E，Allotta B Robotics for Medical Applications[C] IEEE International Conference on Robotics and Automation．1996．9：44-56
[19]张付祥，付宜利，王树国康复机器人研究进展[J].河北工业科技，2005，22(2)：100-105
[20]法国KINETEC公司手指手腕关节康复器[OL].201012010-09-131 http：//www kinetec com
[21]德国Otto Bock公司WaveFlex型手指康复装置[OL].20lO[20lO-09-141 http：//www ottobock de
[22]德国ORMED公司ARTROMOT型手指康复装置[0 Ll 201012010-09-i61 http：//www ormed com
[23]韩国MAREF公司RELIVER RL-100型手部康复训练仪[OL]. 201012010- 09-17]http：//www dsmareEcom
[24]Bouzit M，Burdea G Popescu G et al The Rutgers Master II-New-DesignForce-Feedback Glove[C]IEEE/ASME International Conference Transactionson Mechatronics，2002，7(2)：256-263
[25]Ito S，Kawasaki H，Ishigure Y,et al A Design of Fine Motion AssistEquipment for Disabled Hand in Robotic Rehabilitation System[J]TheJournal of the Franklin Institute，2009
[26]Adamovich S.V,August K，Merians A，et al.A Virtual Reality-based SystemIntegrated With Fmri to Study Neural Mechanisms of Action Observation-execution：A Proof of Concept Study[J]. RestorativeNeurosclence，2009，27：209-223
[27]杭州亚太医疗器械有限公司YTK-E型手指关节康复器[OL].2010[20l0- 09-171 http：//www yatai-medical com
[28]Wang SH，Li J.T. Zhang Y. R，et al Active and Passive Control of an Exoskeleton with Cable Transmission for Hand Rehabilitation[C]IEEE International Conference on Rehabilitation Robotics，2009
[29]张付祥创伤手指康复机械手系统研究[D].哈尔滨：哈尔滨工业大学工学博士论文，2007：93-102
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