Research On Bio-mechanology In Rehabilitation Machinery

Since long ago, millions of people became disabled or amputated because of manyreasons. With the development of transportation, civil works and heavy industry, more andmore people are suffering from disability. Meanwhile, with the continuous development ofscience and technology, more and more useful prostheses are developed. Machines forrehabilitation are developing, from the ornamental prostheses in ancient times to prosthesesthat can complete basic functions such as grabbing things or helping walking, and then toprostheses that can do more complex works harmonious, controlled by sEMG..First, this dissertation changes human movement model into mathematical model withtheory and method of bio-mechanology. With kinematic and dynamic analysis, we find out thedisciplines of human movement and it provide basis for prostheses design. Then the prosthetichands are classified and compared. By contrast of their advantages and disadvantages, a newkind of multi-bar under-actuated finger is designed and the kinematic and static analysis ismade. According to the quantitative analysis, the limitation of under-actuated finger isrevealed.As the knee joint plays an important role in walking, the dissertation analyses thestructure of knees joint. For the short-comings of the single-hinge knee, the improvedmethods of four-bar and six-bar prosthetic knee are put forward. The controlling moment iscalculated. Then a new kind of six-bar prosthetic knee is designed and the optimal designmodel of it is provided.At last, this dissertation introduces sEMG control method and explores the methods ofdata processing, analysis and pattern recognition, providing guidance for developing sEMGcontrolled prosthesis.