請用此 Handle URI 來引用此文件：
http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/49822完整後設資料紀錄
| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 江茂雄(Mao-Hsiung Chiang) | |
| dc.contributor.author | Che-Wei Chan | en |
| dc.contributor.author | 詹哲瑋 | zh_TW |
| dc.date.accessioned | 2021-06-15T11:50:41Z | - |
| dc.date.available | 2021-08-24 | |
| dc.date.copyright | 2016-08-24 | |
| dc.date.issued | 2016 | |
| dc.date.submitted | 2016-08-11 | |
| dc.identifier.citation | [1] J.-L. Liang, 'Design and Control of a 1-DOF Forearm Robotic System Driven by Pneumatic Artificial Muscle Actuator,' Department of Engineering Science and Ocean Engineering, National Taiwan University, 2013.
[2] G. Andrikopoulos, G. Nikolakopoulos, and S. Manesis, 'A Survey on applications of Pneumatic Artificial Muscles,' in Control & Automation (MED), 2011 19th Mediterranean Conference on, 2011, pp. 1439-1446. [3] C. Ching-Ping and B. Hannaford, 'Static and dynamic characteristics of McKibben pneumatic artificial muscles,' in Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on, 1994, pp. 281-286 vol.1. [4] Festo. website. Available: http://www.festo.com. [5] E. Kelasidi, G. Andrikopoulos, G. Nikolakopoulos, and S. Manesis, 'A survey on pneumatic muscle actuators modeling,' in 2011 IEEE International Symposium on Industrial Electronics, 2011, pp. 1263-1269. [6] J. Serres, D. Reynolds, C. Phillips, D. Rogers, and D. Repperger, 'Characterisation of a pneumatic muscle test station with two dynamic plants in cascade,' Computer Methods in Biomechanics and Biomedical Engineering, vol. 13, pp. 11-18, 2009. [7] J. Serres, D. Reynolds, C. Phillips, M. Gerschutz, and D. Repperger, 'Characterisation of a phenomenological model for commercial pneumatic muscle actuators,' Computer Methods in Biomechanics and Biomedical Engineering, vol. 12, pp. 423-430, 2009. [8] K. Wickramatunge and T. Leephakpreeda, 'Empirical modeling of pneumatic artificial muscle,' Proceedings - International Multi Conference of Engineers and Computer Scientists, vol. 2, pp. 1726–1730, 2009. [9] N. Yagn, 'Apparatus for facilitating walking,running,and jumping,' U.S.Patents 420 179, 1890. [10] Rock Island Arsenal Biomechanics Symposium, Biomechanics: Augustana College, 1967. [11] A. Forner-Cordero, J.L. Pons, E. A. Turowska, A. Schiele, J. M. Baydal-Bertomeu, and D. Garrido, 'Kinematics and dynamics of wearable robots Wearable robots,' Wiley, Hoboken, NJ, USA, pp. 47-80, 2008. [12] R. Riener, L. Lunenburger, S. Jezernik, M. Anderschitz, G. Colombo, and V. Dietz, 'Patient-cooperative strategies for robot-aided treadmill training: first experimental results,' IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 13, pp. 380-394, 2005. [13] S. K. Banala, S. K. Agrawal, S. H. Kim, and J. P. Scholz, 'Novel Gait Adaptation and Neuromotor Training Results Using an Active Leg Exoskeleton,' IEEE/ASME Transactions on Mechatronics, vol. 15, pp. 216-225, 2010. [14] J. Pransky, 'The Pransky interview: Russ Angold, co-founder and president of Ekso Labs,' 2014, pp. 329-334. [15] M. Talaty, A. Esquenazi, J. E. Brice, and x00F, 'Differentiating ability in users of the ReWalk TM powered exoskeleton: An analysis of walking kinematics,' in Rehabilitation Robotics (ICORR), 2013 IEEE International Conference on, 2013, pp. 1-5. [16] R. J. Farris, H. A. Quintero, S. A. Murray, K. H. Ha, C. Hartigan, and M. Goldfarb, 'A Preliminary Assessment of Legged Mobility Provided by a Lower Limb Exoskeleton for Persons With Paraplegia,' IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 22, pp. 482-490, 2014. [17] A. B. Zoss, H. Kazerooni, and A. Chu, 'Biomechanical design of the Berkeley lower extremity exoskeleton (BLEEX),' IEEE/ASME Transactions on Mechatronics, vol. 11, pp. 128-138, 2006. [18] Y. Sankai, 'HAL: Hybrid Assistive Limb Based on Cybernics,' in Robotics Research: The 13th International Symposium ISRR, M. Kaneko and Y. Nakamura, Eds., ed Berlin, Heidelberg: Springer Berlin Heidelberg, 2011, pp. 25-34. [19] W. Kim, H. Lee, D. Kim, J. Han, and C. Han, 'Mechanical design of the Hanyang Exoskeleton Assistive Robot(HEXAR),' in Control, Automation and Systems (ICCAS), 2014 14th International Conference on, 2014, pp. 479-484. [20] H. Kawamoto, T. Hayashi, T. Sakurai, K. Eguchi, and Y. Sankai, 'Development of single leg version of HAL for hemiplegia,' in 2009 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2009, pp. 5038-5043. [21] 'ISO 13482 Robots and robotic devices – Safety requirements for personal care robots,' 2014. [22] S. Viteckova, P. Kutilek, and M. Jirina, 'Wearable lower limb robotics: A review,' Biocybernetics and Biomedical Engineering, vol. 33, pp. 96-105, // 2013. [23] S. Mohammed and Y. Amirat, 'Towards intelligent lower limb wearable robots: Challenges and perspectives - State of the art,' in Robotics and Biomimetics, 2008. ROBIO 2008. IEEE International Conference on, 2009, pp. 312-317. [24]AnatomyTutorial.Available:http://www.vhlab.umn.edu/atlas/anatomy-tutorial/anatomic-position.shtml. [25] P. Bowker, 'Biomechanical basis of orthotic management,' ed: Butterworth-Heinemann, 1993. [26] Kinesiology & Biomechanics of Sport & Exercise. Available: http://biomechanics.byu.edu/exsc362(hunter)/index362.html. [27] A. M. Dollar and H. Herr, 'Lower Extremity Exoskeletons and Active Orthoses: Challenges and State-of-the-Art,' IEEE Transactions on Robotics, vol. 24, pp. 144-158, 2008. [28] Wikipedia https://en.wikipedia.org/wiki/Leg_bone. [29] muscle of leg https://kristinleedennis.com/tag/leg-workout/. [30] J. Perry and J. M. Burnfield, 'Gait analysis: normal and pathological function,' 1992. [31] R. venkatesh, 'Determination of kinesiological parameters and simulation of the results to develop a lower limb exoskeleton,' 2014. [32] C.-T. Lin and C. S. G. Lee, Neural Fuzzy Systems: Prentice Hall International, 1999. [33] A. S. Poznyak, E. N. Sanchez, and W. Yu, Differential Neural Networks for Robust Nonlinear Control: World Scientific, 2001. [34] F.L.Lewis, S.Jagannathan, and A.Yesildirek, Neural Network Control of Robot Manipulators and Nonlinear Systems, 1999. [35] T. U. D. C. Thanh and K. K. Ahn, 'Nonlinear PID control to improve the control performance of 2 axes pneumatic artificial muscle manipulator using neural network,' Mechatronics, vol. 16, pp. 577-587, 11// 2006. | |
| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/49822 | - |
| dc.description.abstract | 隨著全球進入高齡化社會，外骨骼在機器人領域越來越受歡迎，因為它們不僅可以對病人受損的四肢提供協助也能輔助難以自己移動的老年人，同時也能增加健全人的力量。在各種的致動器之中氣壓人造肌肉致動器(pneumatic artificial muscles actuator)對於外骨骼設備而言具有很大的優勢，由於其固有的可彎曲性，這保證了操作者和設備之間的安全。此外該高出力-重量比和重量輕也是外骨骼設備所需要的理想特性。但因其高度非線性的缺點，使得高控制精度不易。
本論文旨在以氣壓人造肌肉致動器應用於雙自由度下肢機器人系統，作為未來朝向下肢外骨骼輔具發展之起始。本文之下肢機器人系統分為大腿和小腿兩軸，各軸分別以比例閥控之雙氣壓人造肌肉致動器驅動，進行類似於人類下肢之雙自由度下肢機器人系統設計及實驗原型系統建立，考慮行動性及重量，本文使用比例閥來取代壓力閥。由於氣動人工肌肉致動器是高度非線性的致動器，所以不易建立準確的數學模型，因此採用不需系統模式之非線性類神經自調式PID控制器。此外，雙自由度機械人也須發展正逆向運動學分析。而角度感測器為類比輸出使的訊號產生嚴重的干擾，所以多加設計了干擾觀測器來擷取角度訊號可以減少雜訊的干擾。實驗先分別實現單軸角度軌跡控制後，再進一步整合雙軸運動及軌跡規劃，進行雙自由度下肢機器人系統在不同軌跡下的運動控制。最後，實驗結果顯示基於類神經網路的自調式PID控制器可有效控制比例閥運用在雙自由度下肢機器人系統，由於此下肢機器人系統未來將朝向外骨骼發展，所以系統的動作流暢性會比精準度來的重要，因此，本研究的實驗控制誤差可保持在可接受的範圍內。 | zh_TW |
| dc.description.abstract | Rehabilitation robots and exoskeletons have increasingly become popular in the field of robotics, since they can not only provide a support for patients with impaired limbs or the elders with difficulty of doing activities for daily living by their own, but also augment the power of able-bodied people. Of all the actuators, pneumatic artificial muscles (PAMs) may be the most promising one due to their inherent compliance, which guarantees safe interactions between the operator and the device. In addition, high power to weight ratio and lightness are also ideal features for the applications of human-friendly devices. However, the nonlinearity is the drawback that is required to mitigate for accurate control.
The purpose of this study is to develop a dual-PAMs driving 2-DOF robotic system, following with the research of [1] for our future objective of the lower limb rehabilitation robot. The system structure is similar to a human lower limb. The test rig of the dual-PAMs driving 2-DOF robotic system is composed of upper leg, lower leg, and each leg is equipped with a proportional-valve controlled dual-PAMs to reduce the system weight. Since the PAMs is a highly non-linear actuator, it is hard to control the system and derive mathematical model precisely. Therefore, the system is controlled by the modified model-free self-tuning PID controller based on neural network to compensate the nonlinearity and improve the tracking performance. For the 2-DOF motion of lower limb, kinematics and inverse kinematics are derived. Finally, the experimental results indicate that 2-DOF tracking motion control of lower limb of the dual-PAMs driving 2-DOF robotic system can be achieved by the self-tuning PID controller with acceptable control error. | en |
| dc.description.provenance | Made available in DSpace on 2021-06-15T11:50:41Z (GMT). No. of bitstreams: 1 ntu-105-R03525075-1.pdf: 3190800 bytes, checksum: a79c8fcc557b55687066686b68254800 (MD5) Previous issue date: 2016 | en |
| dc.description.tableofcontents | 誌謝 i
中文摘要 ii ABSTRACT iii CONTENTS iv LIST OF FIGURES vi LIST OF TABLES x Chapter 1 Introduction 1 1.1 Preface 1 1.2 Literature Survey 2 1.2.1 Pneumatic Artificial Muscle Actuator 2 1.2.2 Modeling Approaches of Pneumatic Artificial Muscle 3 1.2.3 Exoskeleton 7 1.2.4 Control Theory 13 1.3 Motivation of Thesis 13 1.4 Organization of Thesis 14 Chapter 2 Biomechanics of the Human Body 15 2.1 Basic biomechanics 15 2.1.1 Movement of Body Segments 15 2.1.2 Biomechanics of walking 19 2.2 Lower Limb 21 Chapter 3 Layout of Test Rig of PAM System 25 3.1 Characteristics test of Proportional Valve 25 3.2 Test Rig of 2-DOF Lower Limb Robotic System 29 Chapter 4 Controller Design 33 4.1 Control Theory of Neural network 33 4.1.1 Biological Neural Networks 34 4.1.2 Neural model and Structure 36 4.2 Nonlinear PID based on Neural Network 38 4.3 Controller Design of Single Robotic System 42 4.4 Inverse Kinematics Analysis of 2-DOF Lower Limb Robotic System 43 Chapter 5 Experiments 46 5.1 Experiments of Single Lower Limb Robotic System 46 5.1.1 Experiment Results of Angle Control of the Lower Leg 46 5.1.2 Experiment Results of Angle Control of the Upper Leg 70 5.2 Experiments of 2-DOF Lower Limb Robotic System 95 Chapter 6 Conclusions 104 REFERENCES 105 | |
| dc.language.iso | en | |
| dc.title | 以比例閥控制雙氣壓人造肌肉致動器應用於下肢二自由度機械之研究 | zh_TW |
| dc.title | Development of a 2-DOF Lower Limb Robotic System
Driven by Dual Pneumatic Artificial Muscle Actuators with Proportional Valves | en |
| dc.type | Thesis | |
| dc.date.schoolyear | 104-2 | |
| dc.description.degree | 碩士 | |
| dc.contributor.oralexamcommittee | 李坤彥,郭振華,陳志鏗,林靖國 | |
| dc.subject.keyword | 氣壓人造肌肉致動器,氣壓伺服系統,外骨骼,雙自由度機械系統,非線性自調式類神經PID 控制器, | zh_TW |
| dc.subject.keyword | Pneumatic artificial muscles,pneumatic servo system,exoskeleton,2-DOF robotic system,nonlinear self-tuning neural PID controller, | en |
| dc.relation.page | 106 | |
| dc.identifier.doi | 10.6342/NTU201602354 | |
| dc.rights.note | 有償授權 | |
| dc.date.accepted | 2016-08-12 | |
| dc.contributor.author-college | 工學院 | zh_TW |
| dc.contributor.author-dept | 工程科學及海洋工程學研究所 | zh_TW |
| 顯示於系所單位： | 工程科學及海洋工程學系 | |
文件中的檔案：
| 檔案 | 大小 | 格式 | |
|---|---|---|---|
| ntu-105-1.pdf 目前未授權公開取用 | 3.12 MB | Adobe PDF |
系統中的文件，除了特別指名其著作權條款之外，均受到著作權保護，並且保留所有的權利。