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| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 林達德(Ta-Te Lin) | |
| dc.contributor.author | Po-Jung Ho | en |
| dc.contributor.author | 何柏融 | zh_TW |
| dc.date.accessioned | 2021-06-17T02:23:07Z | - |
| dc.date.available | 2017-08-24 | |
| dc.date.copyright | 2017-08-24 | |
| dc.date.issued | 2017 | |
| dc.date.submitted | 2017-08-19 | |
| dc.identifier.citation | 張家瑋。2015。輔助行走下肢外骨骼機器人之設計。碩士論文。台北：台灣大學生物產業機電工程學研究所。
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IEEE Transactions on Neural Systems and Rehabilitation Engineering, 12(2), 295-302. doi:10.1109/TNSRE.2004.827825. Rudy, J. 2014. Zero-Moment Point Walking Controller for Humanoid Walking Using Darwin-OP. Dep. Aer Mech Eng, U. Notre Dame. Sardain, P., & Bessonnet, G. 2001. Gait analysis of a human walker wearing robot feet as shoes. Paper presented at the Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on. Sawicki, G. S., & Khan, N. S. 2016. A Simple Model to Estimate Plantarflexor Muscle, 2013;Tendon Mechanics and Energetics During Walking With Elastic Ankle Exoskeletons. IEEE Transactions on Biomedical Engineering, 63(5), 914-923. doi:10.1109/TBME.2015.2491224. Schepers, H. M., Asseldonk, E. H. F. v., Buurke, J. H., & Veltink, P. H. 2009. Ambulatory Estimation of Center of Mass Displacement During Walking. IEEE Transactions on Biomedical Engineering, 56(4), 1189-1195. doi:10.1109/TBME.2008.2011059. Stegall, P., Winfree, K. N., & Agrawal, S. K. 2012. Degrees-of-freedom of a robotic exoskeleton and human adaptation to new gait templates. Paper presented at the Robotics and Automation (ICRA), 2012 IEEE International Conference on. Steger, R., Sung Hoon, K., & Kazerooni, H. 2006, 15-19 May 2006. Control scheme and networked control architecture for the Berkeley lower extremity exoskeleton (BLEEX). Paper presented at the Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006. Sukwoo, L., Jaeho, J., & Sangdeok, P. 2013, 24-26 Oct. 2013. Control of a lower limb exoskeleton using GRF estimation. Paper presented at the IEEE ISR 2013. Sup, F., Bohara, A., & Goldfarb, M. 2007, 10-14 April 2007. Design and Control of a Powered Knee and Ankle Prosthesis. Paper presented at the Proceedings 2007 IEEE International Conference on Robotics and Automation. Tao, W., Liu, T., Zheng, R., & Feng, H. 2012. Gait analysis using wearable sensors. Sensors, 12(2), 2255-2283. Tsukahara, A., Hasegawa, Y., Eguchi, K., & Sankai, Y. 2015. Restoration of Gait for Spinal Cord Injury Patients Using HAL With Intention Estimator for Preferable Swing Speed. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 23(2), 308-318. doi:10.1109/TNSRE.2014.2364618. Tsukahara, A., Hasegawa, Y., & Sankai, Y. 2011, 25-30 Sept. 2011. Gait support for complete spinal cord injury patient by synchronized leg-swing with HAL. Paper presented at the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems. Yan, T., Cempini, M., Oddo, C. M., & Vitiello, N. 2015. Review of assistive strategies in powered lower-limb orthoses and exoskeletons. Robotics and Autonomous Systems, 64, 120-136. Yang, C.-C., & Hsu, Y.-L. 2010. A review of accelerometry-based wearable motion detectors for physical activity monitoring. Sensors, 10(8), 7772-7788. Yang, S., & Li, Q. 2012. Inertial sensor-based methods in walking speed estimation: A systematic review. Sensors, 12(5), 6102-6116. Yang, Z., Zhu, Y., Yang, X., & Zhang, Y. 2009a, 26-27 Aug. 2009. Impedance Control of Exoskeleton Suit Based on Adaptive RBF Neural Network. Paper presented at the 2009 International Conference on Intelligent Human-Machine Systems and Cybernetics. Yang, Z., Zhu, Y., Yang, X., & Zhang, Y. 2009b. Impedance control of exoskeleton suit based on RBF adaptive network. Paper presented at the 2009 International Conference on Intelligent Human-Machine Systems and Cybernetics, IHMSC 2009. Young, A. J., & Ferris, D. P. 2017. State of the art and future directions for lower limb robotic exoskeletons. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 25(2), 171-182. doi:10.1109/TNSRE.2016.2521160. Zoss, A., Kazerooni, H., & Chu, A. 2005, 2-6 Aug. 2005. On the mechanical design of the Berkeley Lower Extremity Exoskeleton (BLEEX). Paper presented at the 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems. | |
| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/68499 | - |
| dc.description.abstract | 外骨骼機器人是一種提升人體活動能力的裝置，分成上肢型、下肢型與全身型的外骨骼機器人，而本研究的對象是下肢型外骨骼機器人，應用於協助下肢行動不便的患者以提升日常生活之便利性與日常復健用途。本研究承接上一代外骨骼機器人研究成果 (張，2015)，繼續向下針對其控制系統進行改良。上一代外骨骼機器人利用使用者身體參數調整客製化的步態控制外骨骼機器人，搭配胸前的慣性量測單元與有限狀態機來辨識目前的動作種類。然而在這些動作的運作過程，並沒有控制迴路來監控動作的流暢程度，也無法得知使用者目前步行狀態。因此本研究開發了一整套控制流程，包含起始步態意圖，外骨骼機器人能根據步態意圖控制器決定啟動左右腳的順序；步態行走速度控制，可以根據步態行走速度改變行進中的速度；步態事件偵測演算法與步態軌跡產生器。外骨骼機器人在不間斷的最快步行速度可達3 s/step，相當於一分鐘可以走20步，此步速是上一代的4倍，並且透過客製化的角速度步態可以使每個關節在運作的過程中並非都是以等角速度轉動，使外骨骼機器人更加貼近正常人行走之步態，並且藉由即時控制角速度步態軌跡的大小，可以將外骨骼機器人的步速依使用者的意願控制在一定的範圍。在硬體改良的部分，本研究設計並製作了腳踝機構，此機構足以支撐機器人機構之重量，以減低受試者在穿戴時之不適；另外一部分是將原本的運算單元改成嵌入式系統，以提升實驗過程或使用過程之便利度。 | zh_TW |
| dc.description.abstract | Exoskeleton robot is a kind of equipment that can enhance human mobility, and there are three categories including upper limb, lower limb and whole body exoskeleton robot. The purpose of this research is to focus on the lower limb exoskeleton, and wish to apply this equipment on increasing the quality of the patients’ activities of daily living (ADL) as well as helping patient to recover from walking diseases. In this research, the objective is to undertake the former version of the lower limb exoskeleton robot, and modifies its control system so that robot can act more like a real human. In the previous version (Chang, 2015) uses the parameters from the user’s physical dimension to generate customized gait model to control exoskeleton robot, and also used the inertial measurement unit on the chest to determine current finite state. However, in the process of these motion, there is no any feedback control loop to monitor the whole process, and the exoskeleton system is not aware of the current walking status. As a result, this research introduced a whole new version of control system, including gait intension estimator, cadence control, gait phase detection algorithm, and trajectory generator. In this version of exoskeleton is able to walk in the maximum speed of 3 s/step, that is to walk 20 steps within a minute, this result is 4 time faster than the former version. Last but not least, a new ankle-foot orthosis and an embedded system was designed, this enables user to walk more comfortably and to increase mobility of the exoskeleton robot. This version of robot not just walks faster than the former version, but walk more like a real human. | en |
| dc.description.provenance | Made available in DSpace on 2021-06-17T02:23:07Z (GMT). No. of bitstreams: 1 ntu-106-R04631028-1.pdf: 5411093 bytes, checksum: 32355081686156a1764498e5ae2763d5 (MD5) Previous issue date: 2017 | en |
| dc.description.tableofcontents | 誌謝 i
摘要 iii Abstract iv 目錄 v 圖目錄 viii 表目錄 x 第一章 緒論 1 1.1 前言 1 1.2 研究目的 3 第二章 文獻探討 5 2.1 下肢型外骨骼機器人簡史 5 2.2 人體運動學與動力學分析 5 2.2.1 人體下肢結構分析 8 2.2.2 人體動態模型分析 10 2.2.3 步態分析 11 2.2.4 質量中心與壓力中心 11 2.3 外骨骼機器人機構設計 12 2.3.1 外骨骼機器人整體機械結構 12 2.3.2 踝關節 14 2.4 人機介面互動設計與原理 14 2.4.1 生物力學分析 14 2.5 控制方法 16 2.5.1 感測器 16 2.5.2 控制策略 17 第三章 材料與方法 18 3.1 步態資訊取得 20 3.1.1 慣性量測單元 21 3.2 步態意圖測量 22 3.2.1 起始意圖 23 3.2.2 步態行走速度 24 3.2.3 步態事件偵測演算法 25 3.3 步態軌跡產生器 28 3.3.1 角速度參數化步態模型 28 3.3.2 Minimum jerk model 32 3.4 動力輔具硬體改良 35 3.4.1 腳踝機構設計 35 3.4.2 嵌入式系統設計 37 第四章 結果與討論 39 4.1 外骨骼機器人控制策略 39 4.2 步態事件演算法 40 4.2.1 平地走路 40 4.2.2 上樓梯 43 4.2.3 下樓梯 45 4.2.4 步態事件偵測演算法準確度 47 4.3 外骨骼機器人步態 47 4.3.1 平地走路 47 4.3.2 上樓梯與下樓梯角速度步態 52 4.4 系統驗證 54 4.4.1 平地走路 55 4.4.2 上樓梯與下樓梯 62 4.4.3 轉彎 66 第五章 結論與建議 68 5.1 結論 68 5.2 建議 69 第六章 參考文獻 72 | |
| dc.language.iso | zh-TW | |
| dc.subject | 角速度步態 | zh_TW |
| dc.subject | 慣性量測單元 | zh_TW |
| dc.subject | 控制系統 | zh_TW |
| dc.subject | 步態事件偵測 | zh_TW |
| dc.subject | 下肢型外骨骼機器人 | zh_TW |
| dc.subject | lower limb exoskeleton robot | en |
| dc.subject | gait phase detection | en |
| dc.subject | control system | en |
| dc.subject | angular velocity gait | en |
| dc.subject | inertial measurement unit | en |
| dc.title | 輔助型下肢外骨骼機器人控制系統之研究 | zh_TW |
| dc.title | A Study on the Control System of Assistive Lower Limb Exoskeleton Robot | en |
| dc.type | Thesis | |
| dc.date.schoolyear | 105-2 | |
| dc.description.degree | 碩士 | |
| dc.contributor.oralexamcommittee | 顏炳郎,郭彥甫 | |
| dc.subject.keyword | 下肢型外骨骼機器人,步態事件偵測,控制系統,角速度步態,慣性量測單元, | zh_TW |
| dc.subject.keyword | lower limb exoskeleton robot,gait phase detection,control system,angular velocity gait,inertial measurement unit, | en |
| dc.relation.page | 77 | |
| dc.identifier.doi | 10.6342/NTU201703566 | |
| dc.rights.note | 有償授權 | |
| dc.date.accepted | 2017-08-20 | |
| dc.contributor.author-college | 生物資源暨農學院 | zh_TW |
| dc.contributor.author-dept | 生物產業機電工程學研究所 | zh_TW |
| 顯示於系所單位： | 生物機電工程學系 | |
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