摘要：人手部功能的削弱和失效不但使患者不能参与社会劳动，甚至失去自理能力，给社会和家庭造成极大的负担。本文针对手部康复训练主要由康复医师利用手工方法实施产生的训练效率低下、训练积极性不高等问题，设计了一种用于手部辅助康复训练的被动康复训练器。首先介绍了用于驱动被动康复训练器磁流变电机的结构、实现原理和性能，在此基础上讨论了手部辅助康复训练器的设计方法，该装置在支架上安流变电机，并安装有角度传感器和力传感器，流变电机轴上设计两自由度康复手柄，患者通过手柄实现对手部的康复训练。讨论了康复训练器的控制方法并设计了控制电路，最后设计趣性的康复游戏，与康复器配合实现康复训练。该康复训练器安全稳定性好、重量轻、输出力可控制范围大，能够及时收集患者的康复程度，为医生制定进一步的医疗方案提供依据，患者也可根据自身情况适时调整康复训练难度，具有很好的实用价值和广泛的应用前景。56884

毕业论文关键词：康复训练，力觉交互，流变电机，智能材料

Abstract: Patient with weakened or disabled hand function can not participate in social work, or even lose the ability to take care of themselves, which will result in a heavy burden to the society and the family. A passive rehabilitation training device is designed in this thesis for hand assisted rehabilitation training to solve the problems such as inefficiency, low enthusiasm and so on, which are caused by manual method mainly implemented by rehabilitation physician. Firstly, the structure, principle and performance of rheological motor based on magneto-rheological fluid for passive rehabilitation training device is introduced and design method for hand assisted rehabilitation device is discussed. The rheological motors are mounted on a support, with an angle sensor and a force sensor being installed. A two degrees of freedom rehabilitation handle is mounted on the rheological motors’ shaft, and hand rehabilitation training can be implemented by the handle. Secondly, control methods for rehabilitation training device are discussed and a controller is designed. Interesting rehabilitation games are developed in the end, and rehabilitation training can be implemented by cooperating with rehabilitation training device. The rehabilitation training device developed has many advantages such good security and stability, light weight, large output force, and so on. The degree of rehabilitation can be collected in time, which can be taken as the basis for medical doctors to make the further medical treatment, and the difficulty of rehabilitation training can be adjusted timely by patients according to their own situation. It will have very good practical value and broad application prospect.

Key words: rehabilitation training, force interaction, rheological motor, smart material

目  录

1 前言 5

1.1 背景和意义 5

1.2 国内外发展现状 5

1.3 存在的问题 6

1.4 研究的主要内容 7

2 基于磁流变液的流变电机 7

2.1 磁流变液 7

2.1.1 磁流变液及磁流变效应 7

2.1.2 磁流变液的工作模式