具運動相容性之重力靜平衡外骨骼合成

Abstract

本論文提出了適用於開迴路裝置的外骨骼運動相容性理論。運動相容性理論可解決穿戴外骨骼時所造成的不適感。定義運動相容性為外骨骼不會對連接裝置造成不適感且外骨骼能允許穿戴部位執行穿戴前之運動。不適感是因有沿著裝置桿件軸向的力與力矩施加於裝置連接桿上，為解決不適感須使外骨骼連接桿與裝置連接桿之間沒有相對移動且外骨骼之重量須完全平衡。其中，為避免外骨骼連接桿與裝置連接桿間有相對移動，可將外骨骼連接桿與裝置連接桿視為同一桿件即沒有相對移動。為避免外骨骼與裝置連接桿之間有軸向力存在，外骨骼與裝置需藉由拉伸彈簧各自達成重力靜平衡。為使外骨骼能允許穿戴部位執行穿戴前之運動，則外骨骼之運動維度與自由度須涵蓋裝置之運動維度與自由度，於本論文中討論外骨骼與裝置之運動維度及自由度相等的情況。根據以上條件能得出適用於不同運動維度之裝置時所需的外骨骼接頭數量。 將運動相容性理論分別套用至(1)由位於同一平面的兩桿件及擁有與平面垂直的轉軸的單旋轉自由度的接頭組成的裝置、(2)由位於固定偏差角度的不同平面的兩桿件及擁有與平面垂直的轉軸的兩個旋轉自由度的接頭組成的裝置，以及(3)由位於可變偏差角度的不同平面的兩桿件及擁有兩個與平面垂直且一個與平面的相交線平行的轉軸的三個旋轉自由度的接頭組成的裝置，並得出分別適用之所需的外骨骼接頭數量、接頭安排規則，及可行接頭安排。(1) 由位於同一平面的兩桿件及擁有與平面垂直的轉軸的單旋轉自由度的接頭組成的裝置可以手肘無提攜角為例；(2) 由位於固定偏差角度的不同平面的兩桿件及擁有與平面垂直的轉軸的兩個旋轉自由度的接頭組成的裝置可以手肘有提攜角及固定偏差角度為例；(3) 由位於可變偏差角度的不同平面的兩桿件及擁有兩個與平面垂直且一個與平面的相交線平行的轉軸的三個旋轉自由度的接頭組成的裝置可以手肘有提攜角及可變偏差角為例。並分別驗證當三個例子之外骨骼與裝置均達到重力靜平衡時，於運動範圍內，外骨骼連接桿與裝置連接桿間的軸向力是否趨近於零，若趨近於零，則代表外骨骼不會對裝置造成不適感。

The purpose of this thesis is to propose a kinematic compatibility of exoskeleton suits for open chain device. The theory of kinematic compatibility can eliminate discomfort caused by exoskeletons. We define the kinematic compatibility is that exoskeletons not only enable the device to perform its original motions but also won’t cause discomfort to the device. Discomfort is caused by the axial force and torque applying on the device links. To avoid discomfort, the relative motions between attached link of device and attachment link of exoskeleton has to be eliminated and the weight of exoskeleton has to be balanced. By letting attached link of device and attachment link of exoskeleton be the same link, the relative motions can be eliminated. To avoid axial force applying on device link, the weights of device and exoskeleton have to respectively achieve static balancing by tensional springs. The conditions to enable device to perform its original motions is the set of operating dimensions and the DOF of exoskeletons should cover the device. In this thesis, we discuss the situation that the set of operating dimensions of exoskeleton is the same as the device. Based on the above conditions, the needed number of exoskeleton joints for device with different operating dimensions can be obtained. By respectively applying the kinematic compatibility to (1) device with two coplanar links and an axis perpendicular 1-R joint, (2) device with two non-coplanar, fixed deviation angle links and a 2-R joint with plane-perpendicular axes, and (3) device with two non-coplanar, variable deviation angle links and a 3-R joint with two plane-perpendicular axes and one parallel to the intersection line of planes axis, we can obtain the needed numbers of exoskeleton joint, rules of joint arrangement, and admissible joint arrangements for every kind of device. For the first kind of device, we take elbow without carrying angle as application; for the second of device, we take elbow with carrying angle and fixed deviation angle as application; for the third kind of device, we take elbow with carrying angle and variable deviation angle as application. Each application of device is verified whether the axial force approach to zero during the motions when both device and exoskeleton achieve static balancing. If the axial force approaches to zero, it means the exoskeleton won’t cause discomfort to the device.