基于人体上肢生物力学机理的关节角度变化与实验验证研究

Changes of Joint Angle Based on Biomechanical Mechanism of Human Upper Limb and Experimental Verification Research

摘要: 随着人口老龄化问题日益突出，当前社会中脑卒中患者的数量逐渐增加。神经系统对外部环境和内部体内因素的适应和变化能力使得脑卒中患者可以通过康复训练来恢复运动功能。基于上肢关节角度采集应运而生的上肢康复机器人补充了常规康复训练的不足而受到国内外广泛关注。目前，上肢关节角度采集的主要方法包括运动捕捉系统、电子测角仪、惯性测量单元(IMU)等。其中，IMU是一种较为新颖的测量方法，可以在实时运动中采集数值化的角度数据，具有较高的精度和便携性。本论文基于人体上肢生物力学机理、传统康复训练弊端和目前上肢康复机器人现状，旨在探究被试者上肢关节在不同运动状态下的角度变化情况，并分析其协调性和稳定性，以及为上肢康复和运动训练领域提供参考。研究使用WHEELTEC N100惯导角度传感器模块对被试者的上肢关节进行采集，被试者完成了一系列上肢运动任务，包括伸展、屈曲、内旋、外旋等。通过分析被试者上肢关节在运动过程中的角度变化数据，得出了各个关节的运动特征，并分析了关节间的协调性和稳定性。结果显示，不同上肢关节在不同运动状态下存在着复杂的角度变化特征和协调性特征。本论文结果为运动康复和训练提供了重要的参考依据，同时也为进一步理解人体肢体运动过程提供了新的思路。

Abstract: As the aging population continues to grow, the number of stroke patients is increasing in today’s society. The adaptability and flexibility of the nervous system to external and internal factors enable stroke patients to recover their motor function through rehabilitation training. The upper limb rehabilitation robot, based on upper limb joint angle acquisition, has emerged as a complement to conventional rehabilitation training and has received widespread attention both domestically and internationally. Currently, the main methods for upper limb joint angle acquisition include motion capture systems, electronic goniometers, and inertia measurement units (IMU). IMU are a novel measurement method that can collect digitized angle data in real-time motion and have high accuracy and portability. Based on the biomechanical mechanism of the human upper limb, the drawbacks of traditional rehabilitation training and the current status of upper limb rehabilitation robots, this thesis aims to investigate the angular changes of the subject’s upper limb joints under different movement states and to analyse their coordination and stability, as well as to provide a reference for the field of upper limb rehabilitation and sports training. The study used the WHEELTEC N100 inertial guidance angle sensor module to acquire the upper limb joints of the subjects, who performed a series of upper limb movement tasks, including extension, flexion, internal rotation and external rotation. By analysing the angular change data of the subject’s upper limb joints during movement, the movement characteristics of each joint were derived and the coordination and stability between the joints were analysed. The results show that there are complex angular change characteristics and coordination characteristics of different upper limb joints in different movement states. The results of this thesis provide an important reference for sports rehabilitation and training, and also provide new ideas for further understanding of the human limb movement process. This study provides important reference for motion rehabilitation and training and also provides new ideas for further understanding the human body’s limb movement process.