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| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 江茂雄(Mao-Hsiung Chiang) | |
| dc.contributor.author | Tsung-Chin Tsai | en |
| dc.contributor.author | 蔡宗親 | zh_TW |
| dc.date.accessioned | 2022-11-25T05:34:59Z | - |
| dc.date.available | 2027-01-01 | |
| dc.date.copyright | 2022-02-17 | |
| dc.date.issued | 2022 | |
| dc.date.submitted | 2022-01-20 | |
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| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/82061 | - |
| dc.description.abstract | "隨著全球進入高齡化社會，年長者的醫療與照護成為十分重要的課題，機器人應用於復健輔助訓練機領域越來越受重視，因復健輔助訓練系統作為機器人技術與醫工技術結合的產物，為一種提升人體活動能力的裝置，取代傳統輔助復健治療師，可以輔助行動不方便的年長者移動，也可以幫助四肢受創的患者或是降低勞力工作者工作時的身體負擔，使用機器人對下肢功能障礙患者進行步態復健訓練，為國際先進的復健醫療方式。 在復健輔助訓練機器人系統各種致動器中，氣壓人造肌肉(PAM) 致動器對於復健輔助訓練設備而言具有很大的優勢，由於其固有的可彎曲性及良好的柔順性且工作方式類似於人體肌肉運動，同時又具有力量大、重量輕、柔順性好及安全性高，保證了復健者和設備之間的安全，此外該高出力-重量比和重量輕也是復健輔助訓練設備所需要的理想特性。 本研究提出以氣壓人造肌肉致動器應用於下肢復健輔助訓練機器人系統。有別於以往雙氣壓人造肌肉龐大及高成本機構的設計，本研究所開發下肢復健輔助訓練機器人系統可分為髖關節與膝關節兩軸，各關節均以氣壓比例閥控制單一氣壓人造肌肉致動器並搭配使用扭力彈簧進行模擬人體下肢關節伸展及收縮的仿生機構特性，達成類似於人類下肢之兩自由度機器人系統設計及實驗原型系統建立。透過分析機器人的正逆向運動學，來驗證所推導出來之運動學符合人體下肢運動模式。由於氣壓人造肌肉致動器是高度非線性的致動器,所以在控制上採用不需要建立系統數學模型的模糊滑動模式控制器 (Fuzzy Sliding Mode Control, FSMC)及自組織學習修正器 (Self-organizing modifier) ，並引入適應性控制設計成適應性自組織模糊滑動模式控制器 (Adaptive Self-Organizing Fuzzy Sliding Mode Control, ASOFSMC)。實驗分別先以單關節定位及軌跡追蹤控制及雙軸(髖關節與膝關節)同動位置定位控制，接著進一步引入臨床步態分析(CGA)下肢關節角度作為下肢軌跡追蹤命令，進行步態軌跡控制實驗，並加上一定負載做為模擬實際人體下肢重量進行負載下的步態軌跡追蹤控制。 由實驗結果顯示FSMC可以有效控制氣壓比例閥運用在兩自由度下肢復健輔助訓練機器人系統，而具有線上修正模糊滑動規則能力的自組織學習修正器，可解決當外在環境或負載急遽變化所造成系統不穩定時及時修正規則提高控制性能，適應性控制可以匹配控制器參數以達到更良好的控制效果。證明所提出之單一氣壓人造肌肉致動器搭配扭力彈簧的結合應用於下肢關節機構的設計，可達成如同雙氣壓人造肌肉致動器的性能，更具機構設計之優點，整體機構更小及成本更低。而由實驗結果證明本研究所提出創新式機構設計及控制系統的可行性和可靠性均可以滿足應用在復健輔具訓練的需求。" | zh_TW |
| dc.description.provenance | Made available in DSpace on 2022-11-25T05:34:59Z (GMT). No. of bitstreams: 1 U0001-2001202218051800.pdf: 11236158 bytes, checksum: 3ad4c6ff8e3e54bb1930c91646902202 (MD5) Previous issue date: 2022 | en |
| dc.description.tableofcontents | 博士學位論文口試委員會審定書 i 誌謝 iii 中文摘要 v ABSTRACT vii CONTENTS xi LIST OF FIGURES xv LIST OF TABLES xxv NOMENCLATURE xxvii ABBREVIATIONS xxxiii Chapter 1 Introduction 1 1.1 Preface 1 1.2 Literature Survey 5 1.2.1 Pneumatic Artificial Muscle (PAM) 5 1.2.2 Mathematical Model of PAM 10 1.2.3 Applications of PAM 14 1.2.4 Rehabilitation Assistant and Exoskeleton Robot System 18 1.2.5 Control Theory 30 1.3 Motivation and Purpose 33 1.4 Organization of Dissertation 36 Chapter 2 Human Biology and Walking Gait Analysis 41 2.1 Basic Human Biology 42 2.1.1 Lower Limb Bones 42 2.1.2 Lower Limb Joints 43 2.2 Lower Limb Motion Anatomy 46 2.2.1 Axis and plane of Anatomical 46 2.2.2 Motion characteristics 51 2.2.3 Measurement of Lower Limb Size 56 2.3 Gait Trajectory Analysis and Planning of Human Lower Limb 59 2.3.1 Analysis of Lower Limb Walking Gait Cycle 60 2.3.2 Gait Trajectory Planning of Human Lower Limb 61 2.4 Rehabilitation Exercise Therapy Theory 65 Chapter 3 Bionic Joint Design and Layout of Test Rig 69 3.1 Mechanism Design Concept of Bionic Lower Limb Joint 69 3.2 Layout of Test Rig 76 3.2.1 PAM Specification Selection 77 3.2.2 Torsion Spring Selection 79 3.2.3 Test rig layout of the 2-DOF lower limb robotic rehabilitation assistant system 83 Chapter 4 Kinematic Analysis 89 4.1 Forward Kinematics 89 4.2 Inverse Kinematics 96 4.3 Simulation of Kinematics and Gait Trajectory Planning 99 Chapter 5 Control Strategy and Controller Design 107 5.1 Fuzzy Sliding Mode Control 108 5.1.1 Sliding surface 114 5.1.2 Fuzzy controller 115 5.1.3 Membership function establishment 115 5.1.4 The defuzzification rule 120 5.1.5 Parameter setting 121 5.2 Self-Organizing Rules 122 5.3 Self-Organizing Fuzzy Sliding Mode Control 131 5.4 Adaptive Self-Organizing Fuzzy Sliding Mode Controller 134 5.5 Controller Design of the Assistant Training Robot System for Lower Limb Rehabilitation 137 Chapter 6 Experimental Results and Discussions 141 6.1 Experiments of 1-DOF Joint Angle Tracking Control 142 6.1.1 Experimental Results of Positioning Step Response 142 6.1.2 Experimental Results of Sinusoidal Wave Path Tracking Control 145 6.1.3 Experimental Results of Triangular Wave Path Tracking Control 155 6.1.4 Discussions of Experimental Results 165 6.2 Experiments of 2-DOF Simultaneous Positioning Tracking Control 167 6.2.1 Experimental Results of Simultaneous Positioning Tracking Control for Sinusoidal Wave 168 6.2.2 Experimental Results of Simultaneous Positioning Tracking Control for Triangular Wave 171 6.2.3 Discussions of Experimental Results 174 6.3 Experiments of Human Gait Planning Tracking Control 177 6.3.1 Experimental Results of gait planning tracking control 178 6.3.2 Discussions of Experimental Results 183 Chapter 7 Conclusions and Outlooks 185 7.1 Conclusions 185 7.2 Outlooks 189 REFERENCE 193 Published Journals During PhD Study 207 | |
| dc.language.iso | en | |
| dc.subject | 步態軌跡控制 | zh_TW |
| dc.subject | 氣壓人造肌肉致動器 | zh_TW |
| dc.subject | 復健輔具系統 | zh_TW |
| dc.subject | 扭力彈簧 | zh_TW |
| dc.subject | 模糊滑動控制 | zh_TW |
| dc.subject | 自組織 | zh_TW |
| dc.subject | 臨床步態分析 | zh_TW |
| dc.subject | Fuzzy sliding control | en |
| dc.subject | Gait trajectory control | en |
| dc.subject | Clinical gait analysis | en |
| dc.subject | Pneumatic artificial muscle actuator | en |
| dc.subject | Rehabilitation assistant system | en |
| dc.subject | Torsion spring | en |
| dc.subject | Self-organization | en |
| dc.title | 創新氣壓人造肌肉致動器應用於下肢復健輔助訓練機器人系統之研究 | zh_TW |
| dc.title | Development of an Innovative Pneumatic Artificial Muscle Actuator Driving Lower Limb Rehabilitation Assistant Training Robot System | en |
| dc.date.schoolyear | 110-1 | |
| dc.description.degree | 博士 | |
| dc.contributor.oralexamcommittee | 郭振華,任志強,陳明飛,吳聰能,郭正山,蘇玉本,鍾清枝 | |
| dc.subject.keyword | 氣壓人造肌肉致動器,復健輔具系統,扭力彈簧,模糊滑動控制,自組織,臨床步態分析,步態軌跡控制, | zh_TW |
| dc.subject.keyword | Pneumatic artificial muscle actuator,Rehabilitation assistant system,Torsion spring,Fuzzy sliding control,Self-organization,Clinical gait analysis,Gait trajectory control, | en |
| dc.relation.page | 207 | |
| dc.identifier.doi | 10.6342/NTU202200124 | |
| dc.rights.note | 同意授權(限校園內公開) | |
| dc.date.accepted | 2022-01-21 | |
| dc.contributor.author-college | 工學院 | zh_TW |
| dc.contributor.author-dept | 工程科學及海洋工程學研究所 | zh_TW |
| dc.date.embargo-lift | 2027-01-01 | - |
| 顯示於系所單位： | 工程科學及海洋工程學系 | |
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