主動式學步機之設計與控制

Abstract

本論文主要目的在於建立一套針對先天性行動能力缺乏的小孩所使用的學步機。一般來說復健師在教導先天性行動能力缺乏的小孩的時候，需要二到三位復健師從旁協助才能達到目的，然而在人力成本與時間的考量上，這種訓練方式的效益是不高的。因此我們設計機械連桿機構，模擬踝關節的運動軌跡，並且利用cRIO機台與馬達，控制連桿機構之運動。利用系統識別的方式找出機台的轉移函數，進行強韌控制器設計使得機台更加安全與兼具強韌性，以達到可以用以減少復健師的人力資源，配合機器控制達到訓練時間縮短與效益增加等。

This thesis develops an active gait trainer for children with walking disability. In rehabilitation, two or three trainers are needed to guild children with walking disability. However, this process is inefficient in terms of manpower and time. To improve the efficiency, we construct a six-bar mechanism to mimic the trace of ankle joints and design controllers to follow the traces by using a cRIO system and motors. Through identification techniques, system transfer functions are obtained to design robust controllers for the system. In the end, the design is deemed effective from the simulation and experiments.