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| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 傅立成(Li-Chen Fu) | |
| dc.contributor.author | Chia-Chun Huang | en |
| dc.contributor.author | 黃家俊 | zh_TW |
| dc.date.accessioned | 2022-11-25T08:01:08Z | - |
| dc.date.copyright | 2021-11-06 | |
| dc.date.issued | 2021 | |
| dc.date.submitted | 2021-08-17 | |
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| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/82858 | - |
| dc.description.abstract | 中風是一種因為突發性血管阻塞或破裂造成的神經損傷，可能導致患者出現肌肉痙攣、失去完整肌肉控制能力、肌力不足等失能症狀。臨床研究結果，中風患者在治療師的監督幫助下進行長期的復健治療後，能夠有效幫助患者恢復原有運動機能。考量到復健療程的重複性，將機器人引入傳統復健療程，除了可以幫助治療師更有效率的實施復健療程，也能夠透過機器人上的感測器獲取患者額外資訊，進而提供患者即時回饋。此外，中風患者因為神經損傷後容易出現錯誤的肌肉協同作用，因此在復健過程中除了恢復肌力，訓練患者在復健過程中重新習得正確的肌肉協同作用也有其必要性。 本研究針對上肢外骨骼復健機器人，提出一種考量使用者肌肉啟動程度與運動意圖正確性的輔助控制策略。首先，透過表面肌電訊號，可偵測在特定復健任務下主要肌肉的啟動程度；並且透過關節周圍肌肉群的表面肌電訊號，可以評估使用者運動啟動分布的正確性。接著，復健過程中輔助策略會基於速度場理論評估動作的運動誤差，並生成對應於當前位置的輔助速度。最後，本研究提出一個結合使用者的肌肉啟動程度、運動意圖正確性以及基於速度場產生之輔助速度的整合方法，使得使用者在復健過程中能夠透過正確的肌肉施力獲得更多的輔助，並鼓勵使用者透過正確肌肉協同的方式完成復健動作。 本研究提出的輔助控制方法透過健康受試者的實驗來驗證成效。其結果顯示，使用者在復健過程中能夠透過正確的肌肉施力取得更完整的輔助，在正確的肌肉協同下得以取得更大的關節活動範圍，促使使用者在這樣的獎勵機制下更積極主動地完成給定之復健任務，並且透過機台輔助程度的變化給予使用者即時的回饋。於未來展望，本系統需進一步應用於臨床試驗以驗證對於中風患者的復健療效。 | zh_TW |
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| dc.description.tableofcontents | 口試委員會審定書 # 誌謝 ii 中文摘要 iv ABSTRACT vi CONTENTS viii TABLE OF ACRONYMS xii LIST OF FIGURES xiii LIST OF TABLES xv Chapter 1 Introduction 1 1.1 Motivation 1 1.2 Literature Survey 4 1.2.1 Robotics in Rehabilitation 4 1.2.2 Active-Assistive Therapy with Robots 5 1.3 Contribution 9 1.4 Thesis Organization 10 Chapter 2 Preliminaries 11 2.1 Upper Limb Rehabilitation Robot NTUH-II 11 2.1.1 Hardware Design of NTUH-II 12 2.1.2 Safety Issue 17 2.2 Forward Kinematics and Jacobian Matrix 18 2.2.1 Forward Kinematics 18 2.2.2 Jacobian Matrix in Robotics 20 2.2.3 Angular Velocity 22 2.2.4 Linear Velocity 23 2.2.5 Application to NTUH-II 23 2.3 Robot Dynamics and Kalman Filter 23 2.3.1 Robot Dynamics of NTUH-II 23 2.3.2 Kalman Filter 27 2.4 sEMG Acquisition System 30 Chapter 3 Design of Muscle Activation Based Active-Assistive Control System 33 3.1 Overview of System Block Diagram 33 3.2 Human’s Active Velocity Detection 35 3.2.1 Interactive Torque Observer 35 3.2.2 Admittance Model 38 3.3 Muscle Activation Detector 39 3.3.1 sEMG Signal Acquisition and Communication Protocol 39 3.3.2 sEMG Signal Preprocessing 42 3.3.3 Primary Muscle Activation 44 3.3.4 Normality Index for Muscle Activation Distribution 52 3.4 Muscle Activation Based Active-Assistive Control Strategy 56 3.4.1 Velocity Field Based Task Encoding 56 3.4.2 Muscle Activation Based Assistive Velocity Field Generation 60 3.4.3 Active-Assistive Control Strategy 66 3.5 Controller Design 68 Chapter 4 Experimental and Results 71 4.1 Experiment Setup 71 4.2 Experiment Result 76 Chapter 5 Conclusion 96 REFERENCES 98 | |
| dc.language.iso | en | |
| dc.subject | 使用者意圖偵測 | zh_TW |
| dc.subject | NTUH-II | zh_TW |
| dc.subject | 表面肌電訊號 | zh_TW |
| dc.subject | 復健機器人 | zh_TW |
| dc.subject | 主動輔助復健 | zh_TW |
| dc.subject | active-assistive rehabilitation | en |
| dc.subject | NTUH-II | en |
| dc.subject | electromyography | en |
| dc.subject | rehabilitation robotics | en |
| dc.subject | user intention detection | en |
| dc.title | 基於肌肉活動之主動輔助控制應用於上肢復健外骨骼機器人 | zh_TW |
| dc.title | Muscle Activation Based Active-assistive Control For Upper Limb Rehabilitation Robot | en |
| dc.date.schoolyear | 109-2 | |
| dc.description.degree | 碩士 | |
| dc.contributor.oralexamcommittee | 賴金鑫(Hsin-Tsai Liu),盧璐(Chih-Yang Tseng),陳文翔,連豊力 | |
| dc.subject.keyword | 復健機器人,表面肌電訊號,主動輔助復健,使用者意圖偵測,NTUH-II, | zh_TW |
| dc.subject.keyword | rehabilitation robotics,electromyography,active-assistive rehabilitation,user intention detection,NTUH-II, | en |
| dc.relation.page | 103 | |
| dc.identifier.doi | 10.6342/NTU202102424 | |
| dc.rights.note | 未授權 | |
| dc.date.accepted | 2021-08-17 | |
| 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 |
| dc.date.embargo-lift | 2024-08-30 | - |
| 顯示於系所單位： | 電機工程學系 | |
文件中的檔案：
| 檔案 | 大小 | 格式 | |
|---|---|---|---|
| U0001-1708202111451000.pdf 未授權公開取用 | 4.04 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。