摘要
伴随着机器人技术的迅猛发展,康复医疗工程专家与学者们引入了机器人作为一种新的康复工具,这改变了传统的以治疗师为中心的脑卒中康复治疗模式。基于康复训练机器人的新型康复模式,不仅能满足患者的基本训练需求,而且可以为制定出更为客观的康复评价体系提供条件,从而为更深入地了解中枢神经康复规律提供可能。因此,康复机器人技术得到了全世界的普遍关注,已成为国内外的重要研究热点之一。基于以上背景,本文对治疗中风患者的康复训练机器人作以下方面研究:
①从人机工程的角度研究了康复训练机器人的评价指标体系。首先对人机工程学及人机系统做基本阐述;接着,系统地介绍了患者-康复训练机器人系统组成部分;最后,以人的舒适性、主动性、安全性、便捷性以及可靠性五个方面为二级指标,构建了基于人机工程的康复训练机器人评价指标体系;
②提出了从患者的患肢功能康复角度评价康复训练机器人的“技术性”。本文依据众多学者对中风患者手臂的运动路径特点的研究,基于康复训练机器人输出的相关数据,将评价指标分为在理想直线方向上和垂直此方向上两大类,并以此细分出四个二级指标(即运动时间、相邻次运动间的差异、偏离度及平滑度),分析了四个指标的含义、计算方式及相关权重,由此构建了患者的康复评价模型,同时也得到了康复训练机器人的“技术性”评价模型。
③基于MIT-MANUS,在充分考虑患者的需求因素和深入分析现有康复运动策略的基础上,重新设计了新康复运动策略和相应的人机界面;将实验对象分为三组做相应的对比实验,并依据评价模型中的四个指标,运用MATLAB对采集到的数据进行处理,画出相关的图形,计算出相应的数据,从而检验了新康复运动策略的效果。
With the development of robotics technology, specialists and researchers in the field of rehabilitation engineering have integrated the robotics into the rehabilitation field as a rehabilitative tool, which has changed the traditional mode for rehabilitating stoke with the centre of therapists. The use of robotic devices not only could meet the demand from the training of stroke in the rehabilitation process, but also could provide the opportunity for the therapists to evaluate the rehabilitation process, which could give a view to know the recovery rule of centre nerves. Currently this technology has spread all over the world and it is considered as one of the hottest topics in the world. This paper is focused on this technology and the outline of the present document can be described as follows:
①From the viewpoint of human factors, the evaluation index system for neuro-rehabilitation robotic system was studied. At first the fundamental theory of ergonomics and human-machine system was discussed. Besides, stroke -rehabilitation training robotic system was introduced in the later; at last, the assessment was discussed from the view of physiological, psychological, safe, convenient and reliable factor and the evaluation index system is also built in the following chapter.
②From the viewpoint of recovery of stroke’s limb function we could evaluate the technical factor of rehabilitation training robot. Considering to the research result of trajectories for stroke and on the base of the output data from rehabilitation robotics, the dynamic mode was composed of four parameters from the ideal direction and the perpendicular direction: the duration, the difference between the adjacent sub_movement, the smooth level and the deviation area. In addition, the paper proposes the definition for each parameter and the computer process for each one and the relative weight. At last the mathematic mode could be established for evaluating the progress of recovery for stroke and the technical factor for rehabilitation training robot.
③A new kind of movement strategy for rehabilitation was designed for MIT-MANUS after analyzing the standard one and considering the demand from the stroke. After experiment, the collected data were analyzed with the help of MATLAB and the related pictures are drawn in order to prove whether the new game was better than the standard one.
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