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http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/58425
標題: | 慣性感測系統結合外骨骼式機器人針對中風患者進行雙側上肢訓練 Bilateral Arm Training (BAT) Using an Exoskeleton Robot with IMU Measurement System for Stroke Patient |
作者: | Wei-Wen Wang 王威文 |
指導教授: | 傅立成(Li-Chen Fu) |
關鍵字: | 慣性測量系統,外骨骼式機器人,雙側手臂訓練,主從控制,自我訓練控制, IMU,exoskeleton,upper-limb robot,bilateral arm therapy,leader-follower control,self-motion control, |
出版年 : | 2014 |
學位: | 博士 |
摘要: | 因神經或骨科疾病而造成上肢功能障礙在臨床上相當常見,在外科及骨科的意外傷害中約佔40%,這些患者需要早期發現並定期進行復健以恢復原有的機能並防止併發症的產生,如關節攣縮及肌肉萎縮。為了節省訓練的時間及醫院與診所用於復健治療的相關費用,我們發展一套新的系統,此系統結合慣性感測系統與外骨骼式機器人進行雙側上肢訓練。透過整合慣性測量系統與外骨骼式機器人,可以在執行大範圍運動之過程中進行量測與控制,同時提高了系統的安全性及更為人性化的操作。對於運動軌跡的生成與設計,本系統採用的雙側療法包含教導式的主從控制及自我訓練控制。採用上述訓練方式將更容易進行症狀的檢測,也能增進主動運動訓練的功效。相較傳統設計特定軌跡的方式,使用上述兩種方法可以創建更複雜的運動軌跡。而當機器人在進行輔助練習時,方位測量的準確性及安全性也是很重要的議題,為了達到此目的,本系統特別開發一種點對點的PID控制器藉由運用兩種不同類型的位置測量元件進行相互監控,以使本系統更為強健並防止系統於運行過程中因單點故障等因素而造成危害。 Patients with disabilities of the upper limbs caused by neurologic and orthopedic disorder require timely rehabilitation to regain motor function and prevent complications such as contracture and disuse atrophy. To reduce the costs associated with rehabilitation, this study developed a novel system involving an upper-limb exoskeleton robot with an inertia motion unit (IMU) measurement system based on the principles governing bilateral arm therapy and assistive robotics. The integration of IMU measurement with an exoskeleton robot enables measurement and control over a larger range of motion (ROM) and improves the safety and user-friendliness of the system. For trajectory design, we applied the principles of bilateral therapy, which include leader-follower control and self-motion control. This approach to training enables the early detection of symptoms and enhances ROM. The integration of these two methods enables the generation of trajectories that are more complex than conventional approaches, which are limited to specific types of trajectory. To ensure the accuracy and safety of orientation measurement in robot-assisted exercises, we developed a point-to-point control system comprising two position measurement components in conjunction with a PID controller. The units monitor one another to make the system more robust and to prevent harm due to single point of failure. |
URI: | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/58425 |
全文授權: | 有償授權 |
顯示於系所單位: | 電機工程學系 |
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ntu-103-1.pdf 目前未授權公開取用 | 12.17 MB | Adobe PDF |
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