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| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 王富正 | |
| dc.contributor.author | Nai-Chung Chang | en |
| dc.contributor.author | 張乃中 | zh_TW |
| dc.date.accessioned | 2021-06-14T16:43:09Z | - |
| dc.date.available | 2010-08-04 | |
| dc.date.copyright | 2008-08-04 | |
| dc.date.issued | 2008 | |
| dc.date.submitted | 2008-08-01 | |
| dc.identifier.citation | [1] “Development of active gait trainer for children with walking disability”游哲文, 游忠煌, 國立陽明大學復建科技輔具研究所,2006
[2] Mcfarlane, D.C., and K. Glover ”Robust Controller Design using Normalised Coprime Factor Plant Descriptions”, Springer Verlag, Lecture Notes in Control and Information Sciences, vol. 138, 1989. [3] Mcfarlane, D.C., and K. Glover “A Loop Shaping Design Procedure using Synthesis”, IEEE Transactions on Automatic Controlm vol. 37, no. 6, pp. 759-769, June 1992 [4] 神經阻斷術http://ihome.cuhk.edu.hk/~b026748/NerBlk.htm [5] 骨科手術http://ihome.cuhk.edu.hk/~b026748/Ortho.htm [6] Park, T. S. and Owen, J. H. (1992). 'Surgical management of spastic diplegia in cerebral palsy.' N Engl J Med 326(11): 745-9. [7] Butler, C. (1986). 'Effects of powered mobility on self-initiated behaviors of very young children with locomotor disability.' Developmental Medicine & Child Neurology 28(3): 325-32. [8] Biringen, Z., Emde, R. N., Campos, J. J. and Appelbaum, M. I. (1995). 'Affective reorganization in the infant, the mother, and the dyad: the role of upright locomotion and its timing.' Child Dev 66(2): 499-514. [9] Ulrich, D. A., Ulrich, B. D., Angulo-Kinzler, R. M. and Yun, J. (2001). 'Treadmill training of infants with Down syndrome: evidence-based developmental outcomes.' Pediatrics 108(5): E84. [10] 肉毒桿菌注射http://ihome.cuhk.edu.hk/~b026748/btx.htm [11] 脊後根切除術 http://ihome.cuhk.edu.hk/~b026748/sdr.htm [12] 採椎管內注射www.cmuh.org.tw/cmuh/epaper/58/41-42.pdf [13] Schindl, M. R., Forstner, C., Kern, H. and Hesse, S. (2000). 'Treadmill training with partial body weight support in nonambulatory patients with cerebral palsy.' Arch Phys Med Rehabil 81(3): 301-6. [14] Norman, K. E., Pepin, A., Ladouceur, M. and Barbeau, H. (1995). 'A treadmill apparatus and harness support for evaluation and rehabilitation of gait.' Arch Phys Med Rehabil 76(8): 772-8. [15] Jeng, S.-F., Liao, H.-F. and Hu, M.-H. (2001). 'Comparison of Treadmill Walking with Overground Walking in Children and Adults.' FJPT [16] 腦性麻痺治療www.aftygh.gov.tw/web/03part/img/03part_25/download/05.doc [17] Stolze, H., Kuhtz-Buschbeck, J. P., Mondwurf, C., Boczek-Funcke, A., Johnk, K., Deuschl, G. and Illert, M. (1997). 'Gait analysis during treadmill and overground locomotion in children and adults.' Electroencephalogr Clin Neurophysiol 105(6): 490-7. [18] 黃偉耕 (1995). 正常兒童之步態 醫學工程研究所. 台南, 國立成功大學. 碩士論文. [19] 艾比斯企業有限公司http://www.ibc.com.tw/ [20] 嶸剛企業有限公司http://paroco.hihosting.hinet.net/ [21] 全重股份有限公司http://www.xajong.com.tw/ [22] CompactRIO cRIO-9002/9004 operating instructions. 美商國家儀器股份有限公司 [23] CompactRIO Reconfigurable Embedded System. 美商國家儀器股份有限公司 [24] NI-9505 Operating Instructions. 美商國家儀器股份有限公司 [25] Paul H. Bardell, William H. McAnney, and Jacob Savir, 'Built-In Test for VLSI: Pseudorandom Techniques', John Wiley & Sons, New York, 1987. [26] Ljung L (1999). System Identification. Theory for the User.Prentice-Hall, Upper Saddle River [27] Zhou, K. and Ooyle, J.C. “Essentials of Robust Control”, Prentice Hall, 1998 [28] McFarlane, D.C. and Glover, K. “A Loop Shaping Design Procedure using Synthesis”,IEEE Transactions on Automatic Control, vol. 37, no. 6, pp. 759-769, June 1992 [29] 趙清風，使用MATLAB控制之系統識別，全華科技圖書股份有 限公司，90年2月 [30] John Doyle, Bruce Francis, Allen Tannenbaum “Feedback Control Theory” Macmillan Publishing C0., 1990 [31] Ahmed K. El-Sakkary and Norman E. Gough,”Effect of Delay on The Robustness of Feedback Systems: The Gap Metric”,proceeding of 25th Conference on Declelon and Control Athens, Greece December 1986 [32] Chi-Tsong Chen,”Linear System Theory and Design”,Oxford third edition [33] S. Skogestad, I. Postlethwaite, “Multivariable feedback control, analysis and design,”John willy and Sons, 1996 [34] McFarlane, D.C.,and K. Glover”Robust Controller Design using Normalised Coprime Factor Plant Descriptions”, Springer Verlag, Lecture Note in control and Information Science, vol 138, 1989 [35] Hinrichson, D. and Prittchard, A.J.,”Stability radii of linear systems”,Systems and Control Letters,1986,7:1-10 [36] L.N.Trefethen, “pseudospectra of Linear Operators”,SIAM Review 39,383-406,1997 [37] J.V.Burke, D.Henrion,A.S.Lewis,M.L.Overton.,”HIFOO-A MATLAB package for fix-order controller design and H-infinity optimization”,IFAC Symposium on Robust Control Design in Toulouse, France, July 2006 [38] Georgiou,T.T.,”On the computation of the gap metric,”Systems Control Letters, Vol.11,1988,p.253-257 [39] K. Glover and D.McFarlane,”Robust stabilization of normalized coprime factor plant descriptions with H-infinite-bounded uncertainty”,IEEE Transaction on Automatic Control pp.555-565 [40] 馬英暐，適應控制在質子交換膜燃料電池上的應用，台灣大學機械工程研究所，94年 [41] 呂育儒，Modeling and Control of a Inverted Pendulum System，台灣大學機械工程研究所，96年 [42] Malcolm C. Smith and Tryphon T. Georgiou,”Optimal Robustness in the Gap Metric”, IEEE Transaction on Automatic control. Vol. 35 No. 6, June 1990 | |
| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/40238 | - |
| dc.description.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。 | zh_TW |
| dc.description.abstract | 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. | en |
| dc.description.provenance | Made available in DSpace on 2021-06-14T16:43:09Z (GMT). No. of bitstreams: 1 ntu-97-R95522806-1.pdf: 2586364 bytes, checksum: e00bc0f4dfbd103e850d5e2ab3fb19f6 (MD5) Previous issue date: 2008 | en |
| dc.description.tableofcontents | 誌謝…………………………………………………………...........i
中文摘要……………………………………………………………...iii 英文摘要………………………………………………………………….v 目錄…………………………………………………………………...vii 圖目錄………………………………………………………………....ix 表目錄…………………………………………………………......xiii 第一章 緒論……………………………………………………….....1 1-1 前言………………………………………………………………….1 1-2 文獻回顧…………………………………………………………….2 第二章 連桿機構的設計與系統的建立……………………………….5 2-1 步態產生機構……………………………………………………….5 2-2 CompactRIO (cRIO)機台介紹…………………………………….10 2-3 學步機的系統整合…………………………………………………14 第三章 系統識別………………………………………………………19 3-1 PRBS (Pseudo Random Binary Sequence)訊號…………………19 3-2 建立系統鑑別的數學模型…………………………………………21 3-3 步態連桿機構的模型………………………………………………23 3-4 學步機的系統識別…………………………………………………28 3-4-1 固定轉移函數……………………………………………………28 3-4-2 四個操作點的系統識別……………………………………....29 第四章 強韌控制的概念………………………………………………33 4-1 不確定性模型………………………………………………………33 4-2 強韌系統分析………………………………………………………37 4-3 系統效能(system performance)…………………………………45 4-4 均衡實現(balanced realization)………………………………47 第五章 控制器設計………………………………………………….49 5-1線性分式轉換(linear fraction transformation) ……………49 5-2 互質因式分解………………………………………………………51 5-3 互質因式分解控制器之設計………………………………………54 5-4 定階控制器設計………………………………………………….57 5-5 間隙矩陣(Gap Metric)……………………………………………60 第六章 實驗模擬與實作結果…………………………………………67 6-1 非線性因素…………………………………………………………67 6-2 強韌控制器的設計結果……………………………………………68 第七章 結論與未來展望………………………………………………91 7-1 結論………………………………………………………………..91 7-2 未來展望……………………………………………………………93 參考文獻…………………………………………………………………95 附錄A…………………………………………………………………….99 | |
| dc.language.iso | zh-TW | |
| dc.subject | 強韌控制 | zh_TW |
| dc.subject | cRIO機台 | zh_TW |
| dc.subject | 六連桿機構 | zh_TW |
| dc.subject | 復健師 | zh_TW |
| dc.subject | 先天性行動能力缺乏 | zh_TW |
| dc.subject | walking disability | en |
| dc.subject | robust controllers | en |
| dc.subject | cRIO | en |
| dc.subject | six-bar mechanism | en |
| dc.subject | trainer | en |
| dc.title | 主動式學步機之設計與控制 | zh_TW |
| dc.title | Design and Control of an Active Gait Trainer | en |
| dc.type | Thesis | |
| dc.date.schoolyear | 96-2 | |
| dc.description.degree | 碩士 | |
| dc.contributor.oralexamcommittee | 顏家鈺,蔡宗惠 | |
| dc.subject.keyword | 先天性行動能力缺乏,復健師,六連桿機構,cRIO機台,強韌控制, | zh_TW |
| dc.subject.keyword | walking disability,trainer,six-bar mechanism,cRIO,robust controllers, | en |
| dc.relation.page | 102 | |
| dc.rights.note | 有償授權 | |
| dc.date.accepted | 2008-08-01 | |
| dc.contributor.author-college | 工學院 | zh_TW |
| dc.contributor.author-dept | 機械工程學研究所 | zh_TW |
| 顯示於系所單位： | 機械工程學系 | |
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