與護膝整合之縫匠肌輔助軟性外骨骼

A Soft-exoskeleton for Sartorius Muscle Assistance Combined with Patellofemoral Knee Braces

謝明華(Ming-Hwa Hsieh)

指導教授 ： 施文彬

共同指導教授 ： 劉建豪(Chien-Hao Liu)

國立臺灣大學/工學院/機械工程學研究所/碩士(2017年)

https://doi.org/10.6342/NTU201701268

摘要

外骨骼是在崎嶇地形或室內等不適用輪型載具的環境下，用以幫助人省力與提升行動能力的輔助工具。本研究靈感啟發自中老年人、傷後或術後復原中的人所常穿戴的預防性防護輔具---護膝。為達成兼具護膝防護效果的外骨骼，我們設計了一個輕量化的行動裝置，以齒輪比為3的皮帶傳動搭配滑輪系統，將馬達的轉動轉換成線性制動，再用線性制動拉動腳踏車剎車線，以拉力驅動護膝。透過線性制動的機械行程限制，預期可在裝置失控時保障使用者的安全；而低齒輪比傳動則容許使用者以大力反驅動裝置以應對緊急狀況。為應對崎嶇地形以及走路步態的自然變動，我們於機構上設計了彈簧預力機構以維持張力並容許小幅度偏移，控制上透過光遮斷器追蹤線性驅動機構的關鍵位置，並搭配力規訊號回饋以進行。本裝置使用力規為自製的小型特製力規，設計上可直接與腳踏車剎車線相容，經校正後，有100N有效量測範圍並具備1.755N解析度

關鍵字

軟性外骨骼 ； 力規 ； 滑輪系統 ； 線性致動

並列摘要

Exoskeleton is a promising personal gear to make human motion faster and easier in rough terrains or indoor environments where wheeled-vehicles are not obsoleted. The exoskeleton developed in this work is inspired by the fact that elders and individuals in middle age or suffering physical impairments usually wear some protective gears like knee braces. To achieve an enhanced and safer lower-limb motion, we present a lightweight auxiliary device that is wearable with cable-driven actuation combined with knee braces. Linear reciprocating motion with limited stroke is achieved with a pulley and belt system of 3:1 gear ratio. With its limited stroke and lower gear ratio, this device is mechanically constrained to keep wearers safe even at dysfunction and can be overridden easily at emergency. The positioning accuracy on rough terrain is achieved with a gait deviation tolerance mechanism and control. The control algorithm is empowered by a series of inferred sensors and a miniaturized load cell, which is compatible with straddle cables and has measuring range of 100N with 1.755N resolution after calibration.

並列關鍵字

Soft exoskeleton ； load cell ； pulley system ； linear actuation

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