基于肌电信号控制的六杆膝上假肢设计

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1、东北大学硕士学位论文基于肌电信号控制的六杆膝上假肢设计姓名：张敏申请学位级别：硕士专业：化工过程机械指导教师：王宏20060101壅韭垄茎塑主堂垡垒圭————些!塑生DesignofSix-barAbove-kneeProsthesisControlledbyEMGAbstractWiththeaccelerateddevelopmentofindustryandtraffic，thenumberofamputeeisincreasingatanastonishingspeed．Meanwhile，withtheimprovementofpeople’slivingcondi

2、tion，therequirementofamputeeisalsoincreasing．Theamputeenowadaysdonotonlypaymoreattentiontothemoveablefunctionofprosthesis，butalsodesireittobebeautifulandreplaceable．Basedontherequirementsofamputee，thisdissertationdesignedasix-barkneeprosthesissystemcontrolledwithelectromyography(EMG)．Themai

3、ncontentinvolvesthreeparts：designofStephensonsix-barmechanism，analysisofEMGandcontrolofmotor．Insectionone，thedissertationdetailedthetransferringabilityofinstantinactivejointsonsix．barmechanism，whichcanmaintaintheabove—knee(A·K)prosthesissystemstable，andthepfiodtyofsix-barmechanismonfollowin

4、gnormalpeople’Sgaitcomparedwithfour-barmechanism．Inonegaitperiod，thesix-barmechanismCallenablethemeansquareelToroftheanklelessthan1．01％andthemeansquareerrorofthekneelessthan1．39％．Thegeometricalrelationshipofthesix·barmechanismwasanalyzed．ThestructureparameterofitwasoptimizedwithComplexPenal

5、tyMethodandcomputersimulation．Thekinematicsanddynamicsofthemechanismwereanalyzed．TheworkprincipleofmechanismwasvalidatedandtheinterferenceofitWascheckedbyPro／ENGINEER．Insectiontwo，amethodcontrolled试t11EMGWasputforward，whichenabledthesubjectstocontroltheA-Kprosthesissystemfreelyandvoidedthee

6、mbarrassofhandcontr01．Sixhealthysubjects’quadrieepssignalsunderdifferentconditions(sitting—state，standing·stateandwalking—state)wereanalyzed．TheresearchshowedthatthereWasarulewhenthekneejointrotated．Thepeak-to—peakofquadricepssignalandthevalueatlOOHzwasthelowestwhentheangleofrotationWasthel

7、argest,forinstanceinsiRing-stateorinearlyswing，andtheonesreachedthemaximumwhentheangleofrotationWaszero，forinstanceinstanding-stateorinbearingstate．Anotherresultwasthatthemotionstateandmotiontrendofquadricepssignedbetweenmaleandfemaleunderoneconditionwer