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| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 王富正(Fu-Cheng Wang) | |
| dc.contributor.author | Yu-You Lin | en |
| dc.contributor.author | 林育佑 | zh_TW |
| dc.date.accessioned | 2021-06-17T01:55:28Z | - |
| dc.date.available | 2022-07-27 | |
| dc.date.copyright | 2017-07-27 | |
| dc.date.issued | 2017 | |
| dc.date.submitted | 2017-07-21 | |
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Clinical biomechanics 23.6 (2008): 762-768. | |
| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/67876 | - |
| dc.description.abstract | 本論文針對中風患者的復健，開發一套自動化神經發展治療(Neuro Developmental Treatment; NDT) 步態訓練機。中風後的照護與醫療復健是一筆龐大的負擔，NDT步態訓練整合各種支撐、誘發、引導、與抑制等手法，對於腦中風病患是相當有效的復健方式，然而對於治療師而言，實施這種治療方式相當耗時費力；對於病患而言，則因訓練本身的複雜度及練習時間受限，因此臨床上實際NDT訓練的質與量皆相當不夠，故本論文開發一套自動化NDT步態訓練機，降低治療師的負擔並同時增加中風患者的訓練時間，以提升NDT訓練的效果。
我們首先取得治療師與病人進行訓練時的各種行為量化資訊，將臨床know-how轉譯建立治療師專家系統，而後建立一套自動化系統，設計適當的控制法則遵循此專家系統，學習並且重複治療師的動作。為了能提供良好系統響應，吾人以實驗方式進行系統鑑別，建立數學模型，並針對此模型設計PID控制器與強韌控制器，以準確地複製治療師的動作。 最後，我們徵召中風患者，進行NDT步態訓練，並定義效果指標，驗證所發展的自動化NDT步態訓練機對於中風的復健的效果。 | zh_TW |
| dc.description.abstract | This thesis develops an automated device that can assist Neuro-Developmental Treatment (NDT) training. The rehabilitation expenditure for stroke patients is a heavy load to the society and individuals. NDT training is a way to let patients have the feeling on walking with minimal intervention, and it is shown to be an effective rehabilitation method for stroke patients. During the NDT training, the therapists need to stabilize the patients’ trunk and pelvis, to stimulate the weight shift and pelvic rotation, and to assist the limb control during the stance and swing phases to increase their walking ability. Therefore, NDT training is very labor-intensive for therapists. Consequently, patients normally receive insufficient NDT gait training and delay rehabilitation processes because of the lack of therapist’s assistance. Hence, this thesis develops a machine-aided NDT gait trainer to relief the therapists’ working loads and to improve the rehabilitation effects of stroke patients.
First, we measure the position and force data from clinical NDT gait training, and develop an expert system. Second, we develop motor mechanisms to repeat the therapists’ action based on the expert system. In order to improve the system responses, we derive the transfer functions of the motor system by experiments, and we design PID controller and robust controllers. Finally, we invite testing subjects for NDT gait training. We define performance indexes to discuss the rehabilitation results by the designed NDT trainer. The results indicate that the proposed device is deemed effective in improving NDT training. | en |
| dc.description.provenance | Made available in DSpace on 2021-06-17T01:55:28Z (GMT). No. of bitstreams: 1 ntu-106-R04522815-1.pdf: 16520701 bytes, checksum: 2ceac6658368ec7e859aefdfcb180784 (MD5) Previous issue date: 2017 | en |
| dc.description.tableofcontents | 致謝 I
中文摘要 III Abstract V 表目錄 IX 圖目錄 XI 符號 XV 縮寫 XVIII 第一章 序論 1 1.1 前言 1 1.2 研究動機與方法 2 1.3 文獻回顧 4 1.4 論文架構 8 第二章 自動化NDT繩機構設計 11 2.1 自動化NDT系統架構 11 2.2 動態補捉系統 13 2.2.1 動態捕捉鏡頭(Tracker) 15 2.2.2 LED光點(Marker) 16 2.2.3 座標校正與驗證 18 2.3 馬達拉繩機構 21 2.3.1 步進馬達與驅動器 21 2.3.2 拉繩與輪盤 25 2.3.3 腰帶設計 28 2.3.4 微處理器 29 2.3.5 力量感測器 30 2.3.6 壓力感測器 31 2.3.7 跑步機 38 2.3.8 懸吊系統 39 2.4 安全系統設計 40 第三章 治療師專家系統 43 3.1實驗設定與人體動態捕捉 43 3.2 治療師施力分析 44 3.3 專家系統轉譯與控制流程 49 3.4 壓力感測器的時機判斷 51 3.5 治療師與馬達拉繩系統施力比較 54 第四章 拉繩機構系統鑑別與控制器設計 57 4.1 系統鑑別方法介紹 57 4.2 馬達拉繩機構之系統鑑別 58 4.3 PID控制器設計 64 4.3.1 P控制器設計 66 4.3.2 PI控制器設計 67 4.3.3 PD控制器設計 70 4.3.4 PID控制器設計 73 4.3.5 前置相位領先補償與PD控制器 74 4.3.6 實際治療拉力測試 77 4.4 強韌控制器設計 79 4.4.1 強韌控制設計理論 79 4.4.2 強韌控制器設計 93 4.4.3 實際治療拉力測試與比較 102 第五章 NDT臨床測試 107 5.1 臨床測試 107 5.1.1 受測者收案條件 107 5.1.2 臨床測試流程 109 5.1.3 受測者基本資料 113 5.2 治療效果指標 114 5.3 治療結果分析 120 第六章 結論與未來展望 145 6.1 結論 145 6.2 未來展望 146 Reference 147 附錄A、不同介入方式對骨盆轉動的影響 152 附錄B、IRB同意書 155 附錄C、受測者知情同意書 156 口試委員之問題與回答 162 | |
| dc.language.iso | zh-TW | |
| dc.subject | 運動分析 | zh_TW |
| dc.subject | 動態捕捉系統 | zh_TW |
| dc.subject | 馬達控制 | zh_TW |
| dc.subject | 專家系統 | zh_TW |
| dc.subject | 步態訓練機 | zh_TW |
| dc.subject | 神經發展治療 | zh_TW |
| dc.subject | 強韌控制 | zh_TW |
| dc.subject | motion capture system | en |
| dc.subject | gait trainer | en |
| dc.subject | expert system | en |
| dc.subject | motion analysis | en |
| dc.subject | robust control | en |
| dc.subject | motor control | en |
| dc.subject | Neuro-Developmental Treatment | en |
| dc.title | 自動化神經發展治療步態訓練機之研發 | zh_TW |
| dc.title | The Development of the Automatic Robotic Gait Rehabilitation Devices of Neuro-Developmental Treatment | en |
| dc.type | Thesis | |
| dc.date.schoolyear | 105-2 | |
| dc.description.degree | 碩士 | |
| dc.contributor.oralexamcommittee | 顏家鈺(Jia-Yush Yen),蔡明祺(Mi-Ching Tsai),林沛群(Pei-Chun Lin),劉名揚(Ming-Yang Liu),蔡宜政(I-Cheng Tsai) | |
| dc.subject.keyword | 神經發展治療,步態訓練機,專家系統,運動分析,強韌控制,馬達控制,動態捕捉系統, | zh_TW |
| dc.subject.keyword | Neuro-Developmental Treatment,gait trainer,expert system,motion analysis,robust control,motor control,motion capture system, | en |
| dc.relation.page | 167 | |
| dc.identifier.doi | 10.6342/NTU201700669 | |
| dc.rights.note | 有償授權 | |
| dc.date.accepted | 2017-07-24 | |
| 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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