【作者】 王彤；

【导师】 王建辉；

【作者基本信息】 东北大学 ， 控制理论与控制工程， 2015， 硕士

【摘要】 随着世界各国老龄化问题的日益突出,脑卒中患者不断增加,辅助康复医师对患者进行康复训练的上肢康康复机器人系统研究成为热点。现阶段康复机器人系统研究更集中在机械设计及运动控制,针对康复机器人系统结合医学理论的上肢康复综合评价方法的研究还很不成熟,上肢康复综合评价系统的设计与实现尚不多见。本文针对上肢康复机器人康复评价存在的实际问题,依据康复医学CNS理论、机器人技术和综合评价方法,采用了基于灰色关联度的模糊层次上肢康复综合评价方法,实现了主客观指标的综合评价,并基于该方法进行系统设计与开发。主要工作如下:(1)结合上肢临床康复医学知识与五自由度上肢康复机器人训练特点,确定了康复评价指标体系,给出了各个康复评价指标的采集方法和量化标准。(2)建立了基于灰色关联度的模糊层次上肢康复综合评价模型。针对模糊数学中隶属函数的构造具有随意性和评价系统存在未知信息,运用灰色关联分析法计算各评价指标的模糊隶属度;针对评价指标权重的求取问题,采用改进型层次分析方法,解决了传统层次分析方法存在的不一致性问题以及元素缺失的情况;针对多指标的综合评价分析问题,选取模糊综合评价进行模糊合成运算,得出上肢康复综合评价的结果。(3)基于上肢康复综合评价模型,设计和开发上肢康复综合评价系统。对评价模型的各个方法模块进行算法设计并运用C#与Matlab混合编程。该系统实现对运动功能、反射、肩、肘、前臂、腕的康复程度评价以及上肢康复综合评价,并将评价结果存入SQL数据库,方便医师对患者康复全程的各项指标进行跟踪记录。通过对患者进行实际评价测试实验,结果表明上肢康复综合评价系统所得到的评价结果同医师临床评价结果基本一致,验证基于灰色关联度的模糊层次上肢康复综合评价方法能够对患者进行全面、客观、多角度量化的康复评价,从而对康复训练起到指导和反馈作用。更多还原

【Abstract】 With the tendency of aging population and increasing proportion of stroke-suffering people,there is an extensive concern on the research of the upper limb rehabilitation robot systems which assist physicians in performing rehabilitation training to patients.Recently,most of the researches on the upper limb rehabilitation robot systems concentrate on the machine design and motion control.Upper limb rehabilitation comprehensive evaluation methods combined with the upper limb robot and medical theory exist in a immature form and the design and implementation of upper limb rehabilitation comprehensive evaluation system is still rare.According to the practical issues exist in the upper limb rehabilitation robot,combined CNS theory,robot technology and comprehensive evaluation method,the thesis presented an upper limb rehabilitation comprehensive evaluation method based on the fuzzy hierarchy of grey correlation degree to solve the evaluation issues with subjective and objective indicators.And it fulfilled the systems designing and developing according to the method.The main contents are as follows:(1)The rehabilitation indicators system was based on the clinical medical theory of upper limb rehabilitation and 5-DOF upper limb rehabilitation robot’s structure features.Then the collection method and quantitative criterion were analyzed.(2)The thesis built the upper limb rehabilitation comprehensive evaluation model based on the fuzzy hierarchy of grey correlation degree which settled several practical questions.In this research,the construction of membership function in fuzzy mathematics is casual and evaluation system exists unknown information,grey relational analysis method was used to calculate indicators’ fuzzy membership degree.Analytic Hierarchy Process Method was used to calculate indicators’ weight.However,there were some problems in existing AHP,such as the inconsistency of the comparison matrix and the cases of incomplete matrix.Considering all problems above,the thesis put forward several methods to improve the existing AHP.The fuzzy composition operation of fuzzy comprehensive evaluation was used to aggregate indicators for comprehensive evaluation analysis and obtain the upper limb rehabilitation comprehensive appraised result.(3)The upper limb rehabilitation comprehensive evaluation system was designed based on the comprehensive evaluation model.Algorithms of method function modules were designed based on the model using C#language mixed with Matlab.The system could evaluate the rehabilitations of motor function,reflect function,shoulder function,elbow function,forearm function and wrist function.And the above seven evaluation items were integrated to give a comprehensive rehabilitation evaluation.All the evaluation results were stored in the database,which contributed to track records of the whole rehabilitation process.Through the testing experiment on real patients,the evaluation results reported by upper limb rehabilitation comprehensive evaluation system were consistent with clinical rehabilitation clinicians’ ones.It verified the upper limb rehabilitation comprehensive evaluation method based on fuzzy hierarchy of grey correlation degree could evaluate the rehabilitation of the patients comprehensively,objectively and quantitively.The system could play an important role as a guidance and feedback on the rehabilitation training.更多还原