【作者】 刘鹏；

【导师】 程洪；

【作者基本信息】 电子科技大学 ， 工程硕士（专业学位）， 2020， 硕士

【摘要】 有研究调查显示我国因脑卒中而导致的偏瘫患者数量日渐增多,因此产生了康复医疗人才与患者之间的供需矛盾。随着现代康复医学的发展,该供需矛盾可通过上肢康复外骨骼机器人等得到缓解。为偏瘫患者提供康复训练与评估等功能的上肢康复外骨骼机器人的训练系统存在训练和评估方法缺乏理论支撑、训练模式单一、训练过程乏味无趣等缺陷。针对以上问题,本文设计并实现了基于虚拟现实的上肢康复外骨骼机器人训练系统。主要研究工作如下所示:建立基于上肢外骨骼机器人的康复训练范式:基于易化技术和运动再学习偏瘫康复训练方法,以Brunnstrom疗法为理论依据,提出根据患者病理情况提供具有针对性的训练模式的设计范式。同时为满足多关节和重复训练等康复需求,为每种训练模式提供了训练关节的可选和训练时间的可调等功能。设计针对主动与抗阻训练模式的VR游戏:为提高患者康复训练的积极性与增强患者的参与感,本文融合虚拟现实技术和训练模式的特点,基于康复训练理论基础和主动康复训练特点设计VR游戏。设计了基于VR游戏的以诱发患者自主运动意识的主动和抗阻训练模式,并实现了5款训练目标明确,具有重复训练功能,提供多种感官反馈的VR游戏。同时为有效促进患者受损神经的重组和运动功能的恢复,为被动、主被动、处方三种训练模式设计了上肢运动模拟可视化界面。提出基于上肢外骨骼机器人的三种康复评估方法:康复评估是对患者运动能力判定的过程,对制定或修改康复训练计划具有重要指导作用。鉴于当前Brunnstrom、Fugl-Meyer等传统量表评估方法在可靠性、有效性、敏感性上存有不足,本文提出基于上肢康复机器人的评估方法。基于传统评估方法并结合机器人评估特点,实现了基于上肢外骨骼机器人的关节活动度、肌力强度两种原始数据评估法和以路径比和运动时间为特征值的运动质量评估法。本文最终实现了一套基于VR游戏并融合偏瘫康复训练和评估功能于一体的上肢康复外骨骼机器人训练系统。该系统能辅助医疗人员为患者提供高效的康复训练任务,帮助患者早日回归日常生活。更多还原

【Abstract】 Studies have shown that the number of patients with hemiplegia caused by stroke is increasing in China,so there is a contradiction between the supply and demand of rehabilitation medical talent and patients.With the development of modern rehabilitation medicine,this contradiction between supply and demand can be alleviated by upper extremity rehabilitation exoskeleton robots.The training system for upper extremity rehabilitation exoskeleton robots,which provides rehabilitation training and evaluation for hemiplegic patients,has the defects of lack of theoretical support for training and evaluation methods,single training mode,and boring training process.In response to the above problems,this paper designs and implements an upper extremity rehabilitation exoskeleton robot training system based on virtual reality.The main research work is as follows:Establish a paradigm of rehabilitation training based on upper exoskeleton robot:Based on facilitation technology and sports re-learning hemiplegia rehabilitation training method,taking Brunnstrom therapy as the theoretical basis,it proposes a design paradigm that provides targeted training modes according to the patient’s pathology.At the same time,in order to meet the rehabilitation needs of multiple joints and repetitive training,it provides the functions of optional joint training and adjustable training time for each training mode.Design VR games for active and resistance training modes:In order to improve the enthusiasm of the patients in rehabilitation training and enhance the patient’s sense of participation,this article integrates the characteristics of virtual reality technology and training modes,and designs VR games based on the theoretical basis of rehabilitation training and the characteristics of active rehabilitation training.Designed active and resistance training modes based on VR games to induce patients’ awareness of autonomous movement,and realized 5 VR games with clear training goals,repeated training functions,and multiple sensory feedback.At the same time,in order to effectively promote the reorganization of the injured nerves of the patients and the recovery of motor function,the upper limb movement simulation visual interface is designed for the three training modes of passive,active and passive,and prescription.Three rehabilitation evaluation methods based on upper exoskeleton robot are proposed:Rehabilitation assessment is the process of judging the exercise ability of patients,and has an important guiding role in formulating or modifying rehabilitation training plans.In view of the lack of reliability,effectiveness,and sensitivity of current traditional scale evaluation methods such as Brunnstrom and Fugl-Meyer,this paper proposes an evaluation method based on upper limb rehabilitation robots.Based on the traditional evaluation method and combining the characteristics of robot evaluation,two raw data evaluation methods based on the joint mobility and muscle strength of the upper exoskeleton robot and the motion quality evaluation method with path ratio and motion time as the characteristic values are realized.This article finally realized a set of upper extremity rehabilitation exoskeleton robot training system based on VR games and integrated hemiplegic rehabilitation training and evaluation functions.The system can assist medical personnel to provide patients with efficient rehabilitation training tasks and help patients return to daily life as soon as possible.更多还原