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| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 傅立成(Li-Chen Fu) | |
| dc.contributor.author | Hao-Ying Li | en |
| dc.contributor.author | 李昊穎 | zh_TW |
| dc.date.accessioned | 2021-06-15T12:47:45Z | - |
| dc.date.available | 2019-10-14 | |
| dc.date.copyright | 2016-10-14 | |
| dc.date.issued | 2016 | |
| dc.date.submitted | 2016-07-22 | |
| dc.identifier.citation | [1] Lugo et al., 'Shoulder Biomechanics,' European Journal of Radiology, vol.68, pp. 16–24, 2008.
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| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/50592 | - |
| dc.description.abstract | 因神經或骨骼疾病導致上肢運動功能障礙的患者於臨床上相當常見，經長期重複性的功能性復健治療後，能有效幫助患者恢復原有的機能外，並可防止發生二次併發症。而對患者與治療師而言，外骨骼上肢復健機器人可作為提升治療效益的醫療型輔具。機器人輔助治療不僅能勝任患者的被動式伸展療程，也能提供主動式運動訓練療程及必要的助力式/阻力式療程。應用機器人輔助復健治療其中一項關鍵在於如何在主動式療程中提供明確而簡單的人機互動方式，亦即良好的主動控制。
本研究提出一套可應用於外骨骼上肢復健機器人的主動控制方法。此方法結合本團隊已研發之八自由度外骨骼式第二代上肢復健機器人NTUH-II，透過力量與力矩感測器來量測人體手臂施予機器人的作用力，並經由控制方法來轉換成機器人的運動軌跡，藉此讓機器人模仿使用者產生相同的手臂動作。 本研究提出的控制方法已經八位健康受試者之臨床試驗予以驗證，其實驗結果顯示所提出之控制方法可有效提升使用者操作機器人的穩定性，並減少過度施力的情形。 以此方法為基礎，不僅能實現機器人輔助之主動式運動訓練，記錄使用者在療程中運動的資訊，也具有進一步設計助力式/阻力式復健療程的潛力，發揮更多的復健醫療效益。 | zh_TW |
| dc.description.abstract | Many disorders may cause the upper limb’s motor impairment. Clinical study shows that the long-term repetitive rehabilitation helps such patients regain their motor function and prevent them from complications. With respect to both therapist and patient, the exoskeleton robot for upper limb rehabilitation is a kind of medical assistive device which enhances the effectiveness of the therapy. Robot-assisted training (RAT) not only is able to handle the passive therapy for the early stage patients, but also can provide active or assistive/resistive therapy for the later stage patients.
In order to implement the active therapy in RAT, the human-robot cognitive interaction which is also known as active control becomes one of the key topics. In this study, an active control of our recently developed 8 degrees-of-freedom (DOFs) upper limb rehabilitation exoskeleton, named NTUH-II, is proposed. The interaction force between the user and NTUH-II can be measured by the force/torque sensors mounted on NTUH-II. With such setting, the motion information of the user is first derived from the measured force/torque data and is then transformed into the desired motion trajectory of the exoskeleton. As a result, robot arm will follow the movement of user’s arm. Various experiments have been conducted on eight healthy subjects to verify the performance of the proposed active control, and the results show that the proposed control scheme can boost the stability of the manipulation and reduce the subject’s effort to execute the exoskeleton robot. Besides, this method has the potential to be further extended to develop the assistive/resistive therapy. | en |
| dc.description.provenance | Made available in DSpace on 2021-06-15T12:47:45Z (GMT). No. of bitstreams: 1 ntu-105-R03921008-1.pdf: 8154358 bytes, checksum: d00cfe107ca456e77adf99795edc054a (MD5) Previous issue date: 2016 | en |
| dc.description.tableofcontents | 口試委員會審定書 #
誌謝 i 中文摘要 ii ABSTRACT iii CONTENTS iv LIST OF FIGURES vi LIST OF TABLES viii Chapter 1 Introduction 1 1.1 Motivation 1 1.2 Literature Survey 3 1.3 Contribution 8 1.4 Thesis Organization 9 Chapter 2 System Overview and Preliminary 11 2.1 Upper Limb Rehabilitation Robot NTUH-II 11 2.1.1 Mechanical Structure 11 2.1.2 Six-axis Force/Torque Sensor 15 2.1.3 Motor Brake 17 2.1.4 Jacobians 18 2.1.5 Manipulator Dynamics 20 2.2 System Configuration 22 2.2.1 Hardware Configuration 23 2.2.2 Software Human Machine Interface 25 2.2.3 Safety Issue 30 2.3 Mapping Relationship between Robot and Human 32 2.3.1 Human Arm Model 32 2.3.2 Joint Angle Mapping between Human Arm and Robot Arm 35 2.3.3 Derivation of Human Interaction Force 36 2.3.4 Mapping with Side Changing Function of NTUH-II 37 2.4 L'Hôpital’s Rule 41 2.5 Therapeutic Exercises 42 2.5.1 Passive Mode 42 2.5.2 Active Mode 42 2.5.3 Active-Assistive/Resistive Mode 43 Chapter 3 Design of Control System 44 3.1 Interaction Torque Model 44 3.2 Gravity Compensation 47 3.3 Reacted Motion Rescheduling 50 3.4 Design of Robot Torque based on Lyapunov Stability Analysis 61 3.5 System Block Diagram 64 Chapter 4 Experiment Result 66 4.1 Experiment Protocol 66 4.2 Experiment Result 72 4.2.1 Performance for Shoulder Flexion/Extension Exercise 72 4.2.2 Performance for Shoulder Diagonal Raise Exercise 78 Chapter 5 Conclusion 82 REFERENCE 84 | |
| dc.language.iso | en | |
| dc.subject | 主動式療程 | zh_TW |
| dc.subject | 復健機械手臂 | zh_TW |
| dc.subject | 主動式療程 | zh_TW |
| dc.subject | 主動控制 | zh_TW |
| dc.subject | 上肢復健 | zh_TW |
| dc.subject | 運動功能障礙 | zh_TW |
| dc.subject | NTUH-II | zh_TW |
| dc.subject | NTUH-II | zh_TW |
| dc.subject | 運動功能障礙 | zh_TW |
| dc.subject | 上肢復健 | zh_TW |
| dc.subject | 主動控制 | zh_TW |
| dc.subject | 復健機械手臂 | zh_TW |
| dc.subject | NTUH-II | en |
| dc.subject | rehabilitation robotics | en |
| dc.subject | active rehabilitation | en |
| dc.subject | active control | en |
| dc.subject | motor impairment | en |
| dc.subject | NTUH-II | en |
| dc.subject | rehabilitation robotics | en |
| dc.subject | active rehabilitation | en |
| dc.subject | active control | en |
| dc.subject | motor impairment | en |
| dc.title | 外骨骼上肢復健機器人之意圖主動控制 | zh_TW |
| dc.title | Intention based Active Exoskeleton Control for Upper Limb Rehabilitation Therapy | en |
| dc.type | Thesis | |
| dc.date.schoolyear | 104-2 | |
| dc.description.degree | 碩士 | |
| dc.contributor.oralexamcommittee | 賴金鑫(Jin-Shin Lai),陸哲駒(Jer-Junn Luh),顏炳郎(Ping-Lang Yen),林克忠(Keh-Chung Lin) | |
| dc.subject.keyword | 復健機械手臂,主動式療程,主動控制,上肢復健,運動功能障礙,NTUH-II, | zh_TW |
| dc.subject.keyword | rehabilitation robotics,active rehabilitation,active control,motor impairment,NTUH-II, | en |
| dc.relation.page | 90 | |
| dc.identifier.doi | 10.6342/NTU201601167 | |
| dc.rights.note | 有償授權 | |
| dc.date.accepted | 2016-07-22 | |
| 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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