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| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 傅立成 | |
| dc.contributor.author | Li-Chun Hsu | en |
| dc.contributor.author | 許立群 | zh_TW |
| dc.date.accessioned | 2021-06-15T04:46:08Z | - |
| dc.date.available | 2016-08-26 | |
| dc.date.copyright | 2011-08-26 | |
| dc.date.issued | 2011 | |
| dc.date.submitted | 2011-08-18 | |
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[2] T. N. Patricia Staubli, Verena Klamroth-Marganska, Robert Riener, 'Effects of intensive arm training with the rehabilitation robot ARMin II in chronic stroke patients: four single-cases,' J. Neuroeng. Rehabil., vol. 6, 2009. [3] A. C. Lo, P. D. Guarino, L. G. Richards, J. K. Haselkorn, G. F. Wittenberg, D. G. Federman, R. J. Ringer, T. H. Wagner, H. I. Krebs, B. T. Volpe, C. T. Bever, Jr., D. M. Bravata, P. W. Duncan, B. H. Corn, A. D. Maffucci, S. E. Nadeau, S. S. Conroy, J. M. Powell, G. D. Huang, and P. Peduzzi, 'Robot-assisted therapy for long-term upper-limb impairment after stroke,' N. Engl. J. Med., vol. 362, pp. 1772-1783, 2010. [4] T. Nef and R. Riener, 'ARMin - design of a novel arm rehabilitation robot,' in Int. Conf. Rehabil. Robot., pp. 57-60, 2005. [5] M. Mihelj, T. Nef, and R. Riener, 'ARMin II - 7 DoF rehabilitation robot: mechanics and kinematics,' in IEEE Int. Conf. on Robotics and Automation, pp. 4120-4125, 2007. [6] T. Nef and R. Riener, 'Shoulder actuation mechanisms for arm rehabilitation exoskeletons,' in Int. Conf. on Biomedical Robotics and Biomechatronics, pp. 862-868, 2008. [7] J. C. Perry, J. Rosen, and S. Burns, 'Upper-Limb Powered Exoskeleton Design,' IEEE/ASME Trans. Mechatronics, vol. 12, pp. 408-417, 2007. [8] S. J. Ball, I. E. Brown, and S. H. Scott, 'MEDARM: a rehabilitation robot with 5DOF at the shoulder complex,' in IEEE/ASME int. conf. on Advanced intelligent mechatronics, pp. 1-6, 2007. [9] C. Carignan, J. Tang, S. Roderick, and M. Naylor, 'A Configuration-Space Approach to Controlling a Rehabilitation Arm Exoskeleton,' in IEEE Int. Conf. on Rehabilitation Robotics, pp. 179-187, 2007. [10] A. H. A. Stienen, E. E. G. Hekman, F. C. T. Van der Helm, G. B. Prange, M. J. A. Jannink, A. M. M. Aalsma, and H. Van der Kooij, 'Freebal: dedicated gravity compensation for the upper extremities,' in IEEE Int. Conf. on Rehabilitation Robotics, pp. 804-808, 2007. [11] A. Stienen, E. Hekman, G. Prange, M. Jannink, A. Aalsma, F. v. d. Helm, and H. v. d. Kooij, 'Dampace: Design of an exoskeleton for force-coordination training in upper-extremity rehabilitation,' ASME J. Med. Dev., vol. 3, no. 3, pp. 1-10, 2009. [12] H. PA, Therapeutic exercise for musculoskeletal injuries, 2nd ed., 2005. [13] T. Nef, M. Mihelj, G. Kiefer, C. Perndl, R. Muller, and R. Riener, 'ARMin - Exoskeleton for Arm Therapy in Stroke Patients,' in Rehabilitation Robotics, 2007. ICORR 2007. IEEE 10th International Conference on, pp. 68-74, 2007. [14] P. Culmer, A. Jackson, M. C. Levesley, J. Savage, R. Richardson, J. A. Cozens, and B. B. Bhakta, 'An Admittance Control Scheme for a Robotic Upper- Limb Stroke Rehabilitation System,' in Engineering in Medicine and Biology Society, 2005. IEEE-EMBS 2005. 27th Annual International Conference of the, pp. 5081-5084, 2005. [15] P. Culmer, A. Jackson, M. C. Levesley, R. Richardson, J. A. Cozens, M. M. Williams, and B. B. Bhakta, 'A Cooperative Control Scheme for Robotic Rehabilitation of Arm Impairment after Stroke,' in Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on, pp. 265-269, 2006. [16] P. R. Culmer, A. E. Jackson, S. Makower, R. Richardson, J. A. Cozens, M. C. Levesley, and B. B. Bhakta, 'A Control Strategy for Upper Limb Robotic Rehabilitation With a Dual Robot System,' Mechatronics, IEEE/ASME Transactions on, vol. 15, pp. 575-585, 2010. [17] A. H. A. Stienen, E. E. G. Hekman, G. B. Prange, M. J. A. Jannink, F. C. T. van der Helm, and H. Van der Kooij, 'Freebal: Design of a dedicated weight-support system for upper extremity rehabilitation,' Journal of medical devices, vol. 3, 2009. [18] G. B. Prange, A. H. A. Stienen, M. J. A. Jannink, H. van der Kooij, M. J. Ijzerman, and H. J. Hermens, 'Increased range of motion and decreased muscle activity during maximal reach with gravity compensation in stroke patients,' in Rehabilitation Robotics, 2007. ICORR 2007. IEEE 10th International Conference on, pp. 467-471, 2007. [19] R. J. Sanchez, L. Jiayin, S. Rao, P. Shah, R. Smith, T. Rahman, S. C. Cramer, J. E. Bobrow, and D. J. Reinkensmeyer, 'Automating Arm Movement Training Following Severe Stroke: Functional Exercises With Quantitative Feedback in a Gravity-Reduced Environment,' Neural Systems and Rehabilitation Engineering, IEEE Transactions on, vol. 14, pp. 378-389, 2006. [20] J. J. Craig, INTRODUCTION TO ROBOTICS MECHANICS AND CONTROL, third ed., 2005. [21] R. A. Prokopenko, A. A. Frolov, E. V. Biryukova, and A. Roby-Brami, 'Assessment of the accuracy of a human arm model with seven degrees of freedom,' J Biomech, vol. 34, pp. 177-85, Feb 2001. [22] B. C. Tsai, W. W. Wang, L. C. Hsu, L. C. Fu, and J. S. Lai, 'An articulated rehabilitation robot for upper limb physiotherapy and training,' in Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on, pp. 1470-1475, 2010. [23] M. C. B. Moeslund T.B., Granum E., 'Modelling the 3D pose of a human arm and the shoulder complex utilizing only two parameters.,' Integrated Computer-Aided Engineering, vol. 12, pp. 159-175, 2005. [24] W. H. Benno M. Nigg, Biomechanics of the Musculo-Skeletal System 3ed.: Wiley, John & Sons, Incorporated, 2007. [25] W. T. Dempster, Space requirements of the seated operator, 1955. | |
| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/45787 | - |
| dc.description.abstract | 本論文呈現一個用人體手臂動態模型去模擬受試者意志活動的控制器。為了去達成這個目的，首先我們必須先分析從力量/扭力感測器所量測到的資訊進而得到真正受試者各關節所施的扭力。由得到的真正受試者施的扭力乘上一個增益，這個控制器可以去實現一些物理治療的訓練，包括主動模式、輔助模式以及阻抗模式在我們自製的上肢復健機器手臂。另外，藉由改變手臂動態模型的重力項的比例，這個控制器更可以達到不同程度的上肢手臂重力補償。最後，透過幾個實際的實驗來驗證此控制器的效能及成果。 | zh_TW |
| dc.description.abstract | This thesis presents a control scheme using human arm dynamics to simulate the subject's volitional movement. To achieve this goal, first, it has to obtain the torques purely generated from the subject from force/torque sensors. With this result, the controller can implement the therapeutic exercises, consisting of the active range of motion (AROM), the active-assistive range of motion (A-AROM), and the resistive range of motion (RROM) modes on our self-built upper limb rehabilitation robot arm by feeding back the torques purely generated from the subject with different gains to the associated arm controller. Besides, by modifying the gravity term in human arm dynamics, this controller can achieve different levels of gravity compensation of the upper limb. To validate our design, some realistic experiments are conducted and the performance of our design is demonstrated. | en |
| dc.description.provenance | Made available in DSpace on 2021-06-15T04:46:08Z (GMT). No. of bitstreams: 1 ntu-100-R98921004-1.pdf: 9409667 bytes, checksum: 52ebc25eb6e838fb47cfc1ff693641b1 (MD5) Previous issue date: 2011 | en |
| dc.description.tableofcontents | 口試委員會審定書 #
誌謝 i 中文摘要 iii ABSTRACT iv CONTENTS v LIST OF FIGURES viii LIST OF TABLES xii Chapter 1 Introduction 1 1.1 Motivation 3 1.2 Related Work 3 1.3 Contribution 5 1.4 Thesis Organization 5 Chapter 2 Preliminaries 6 2.1 Jacobians 6 2.2 Manipulator's Dynamic Equations 9 2.2.1 The iterative Newton-Euler dynamics algorithm 10 2.2.2 Lagrangian formulation 11 2.3 Rehabilitation robot types 12 2.4 Therapeutic exercises 13 2.4.1 Passive mode 13 2.4.2 Active mode 14 2.4.3 Acitve-Assistive/Resistive mode 14 2.5 Strain Gauge 15 2.5.1 Basic principle 15 2.5.2 Principle of strain measurement 16 2.5.3 Categories of measuring methods 17 Chapter 3 Design of Rehabilitation Robot 19 3.1 Actuators and Sensors 22 3.2 Safety Issues 23 3.3 Two Therapeutic Modes 24 Chapter 4 Design of Control System 26 4.1 Joint Trajectory Mapping from Robot to Human Arm 28 4.2 Theoretic Model of Human Arm Dynamics 32 4.3 Extract the Torques Generated from the Subject 34 4.3.1 Relationship between the sensor measurements and the torques generated from the subject 35 4.3.2 Mapping from 1st force/moment sensor to the wrist frame 36 4.3.3 Mapping from 2nd force/moment sensor to the wrist frame 37 4.3.4 Transfer of force/moment from the wrist to equivalent joint torques of the upper limb 38 4.4 Forward Kinematics of Human's Upper Limb 39 4.5 Inverse Kinematics of Rehabilitation Robot Arm 40 4.6 Design of Position Controller 41 4.6.1 The effect of the force/torque generated from the subject to the robot arm 42 4.6.2 Problem statement 43 4.6.3 Sliding mode control 43 4.6.4 Stability analysis 44 Chapter 5 Experiment and Result 46 5.1 Evaluation and Analysis of Muscle Strength during Therapeutic Training 46 5.2 Game Exercise with Window-Cleaning Game 51 Chapter 6 Conclusion and Future Works 54 APPENDIX A 55 APPENDIX B 58 REFERENCE 61 | |
| dc.language.iso | en | |
| dc.subject | 重力補償 | zh_TW |
| dc.subject | 人體手臂動態模型 | zh_TW |
| dc.subject | 中風復健 | zh_TW |
| dc.subject | human arm dynamics | en |
| dc.subject | stroke rehabilitation | en |
| dc.subject | gravity compensation | en |
| dc.title | 以重力補償為基礎之上肢復健機器人 | zh_TW |
| dc.title | A Gravity Compensation-Based Upper Limb Rehabilitation Robot | en |
| dc.type | Thesis | |
| dc.date.schoolyear | 99-2 | |
| dc.description.degree | 碩士 | |
| dc.contributor.oralexamcommittee | 賴金鑫,陳文翔,陸哲駒,顏炳郎 | |
| dc.subject.keyword | 中風復健,人體手臂動態模型,重力補償, | zh_TW |
| dc.subject.keyword | stroke rehabilitation,human arm dynamics,gravity compensation, | en |
| dc.relation.page | 62 | |
| dc.rights.note | 有償授權 | |
| dc.date.accepted | 2011-08-18 | |
| dc.contributor.author-college | 電機資訊學院 | zh_TW |
| dc.contributor.author-dept | 電機工程學研究所 | zh_TW |
| 顯示於系所單位： | 電機工程學系 | |
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|---|---|---|---|
| ntu-100-1.pdf 未授權公開取用 | 9.19 MB | Adobe PDF |
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