基于氣動柔性驅(qū)動的膝關(guān)節(jié)康復(fù)訓(xùn)練變剛度控制研究.pdf

1、聲明本學(xué)位論文是我在導(dǎo)師的指導(dǎo)下取得的研究成果，盡我所知，在本學(xué)位論文中，除了加以標(biāo)注和致謝的部分外，不包含其他人已經(jīng)發(fā)表或公布過的研究成果，也不包含我為獲得任何教育機(jī)構(gòu)的學(xué)位或?qū)W歷而使用過的材料。與我一同工作的同事對本學(xué)位論文做出的貢獻(xiàn)均已在論文中作了明確的說明?！軯牛年；月2壚日學(xué)位論文使用授權(quán)聲明南京理工大學(xué)有權(quán)保存本學(xué)位批論文的電子和紙質(zhì)文檔，可以借閱或上網(wǎng)公布本學(xué)位論文的部分或全部內(nèi)容，可以向有關(guān)部門或機(jī)構(gòu)送交并授權(quán)其保存、借

2、閱或上網(wǎng)公布本學(xué)位論文的部分或全部內(nèi)容。對于保密論文，按保密的有關(guān)規(guī)定和程序處理。研究生簽名：魚!!生≥pJ惲歲月二y日碩士學(xué)位論文基于氣動柔性驅(qū)動的膝關(guān)節(jié)康復(fù)訓(xùn)練變剛度控制研究AbstractCASSBlueBookpointsoutChinaselderlypopulationin2013willexceed200millionin2013Thecontinuousdegradationofthejointsofolderpeopl

3、e，peopleofdifferentsportsinjuriesandaccidentsleadstotheincreasingphysicaldisabilitiesofpatients，whichprovideopportunitiesforthedevelopmentofrehabilitationtrainerBecausepneumaticcompliantactuatorisanewtypeofgoodflexibilit

4、ysafepneumaticdriveelements，SOithasbroadapplicationprospectsinthefieldofrehabilitationmedicineHowever，theexactexpressionofitsstaticanddynamicmodelisverydifficult，andfullypracticalpneumaticmuscleactuatorneedstosolvemanypr

5、oblemsThepurposeofrehabilitationistomaintainphysicalfunctioninpatientswiththegreatestdegreeoflimbrestoresnormalmovementCurrentresearchismostlyMckibbenpneumaticmuscles，andmanyscholarshavestudiedit，butthisisashorterstroker

6、ehabilitation，generallycannotachieveactivetrairfingInactive／passivedifferenttrainingphase，weneedtotakedifferentrehabilitationmethodsfordifferentpatientsatdifferenttimesThisrequirestheendoftheflexibledrivehavingdifferents

7、tiffnessinordertoprovidedifferentdampingforceorthedrivingforceandtheforceoftheadaptivecontrolGalabeperformedTherefore，theresearchworksofthisthesisareshownasfollows：(1)Researchofthestaticanddynamicmathematicalmodelofpneum

8、aticcompliantactuatorWithpneumaticcompliantactuatorasanobject，wepresenttostretchthelengthofthecorrectionfactorandimprovestaticoutputforcemodelthatcapturesthemainfactorsaffectingtheoutputforceofpneumaticartificialmusclesw

9、orkinglengthandgaspressure，andthenbasedontheanalysisofthepneumaticcompliantactuatorwetakeanexperimentFinallywefindthemathematicalmodeltoimproveiscorrectbycomparingtestandmodel；weestablishadynamicmathematicalmodelfor也epne

10、umaticcompliantactuatorcontrolsystems，throughsimulationandexperimental，weanalysisthedynamiccharacteristicsofpneumaticmusclesystems，whichlaysthefoundationofstiffness佗)ResearchofpneumaticmusclestiffnessBasedonimprovedmodel

11、，wederivetheexpressionofitsstaticstiffness，andanalyzethemainfactorsaffectingthestaticpneumaticmusclestiffness；bycomparingthemodelandexperiment，weprovetheexpressionofthestaticstiffnessiscorrect；wegiveascientificandreasona