穿戴式下肢動力輔具設計與實作

On the Design and Implementation of Wearable Hybrid Assisted Lower Limb Orthosis

許承志(Cheng-Chih Hsu)

指導教授 ： 陳建祥

國立清華大學/工學院/動力機械工程學系/碩士(2010年)

摘要

本文目的為設計並實作一穿戴式下肢輔具，針對有能力自行完成坐站、上下樓梯等基本動作的人，從外部給予其膝關節10%的輔助力矩，以達到省力、減少關節負擔，進而達到減緩關節退化的目標。本系統主要於現有架構上，保留既有之研究成果，針對其不足之處提出改進的方法並予以重新設計，目的在於使穿戴式輔具能夠更輕巧、實用性更佳。
設計的部分依循上述之目標，以特別設計之M形撓性桿件[23]儲存人體由站到坐所減少的位能，再以直流馬達作為可變阻尼控制撓性桿件釋放位能的速度，藉由兩者相互擷抗組合出對膝關節適當之輔助力矩，並配合本文提出之輔助策略以及適合本文需要之離散輸出回授滑動控制器[18]來完成設計目標。最後，穿著輔具完成各種基本動作，並由股四頭肌表面電位訊號（Electromyogram, EMG）來進一步驗證本文之設計成果。

關鍵字

穿戴式下肢輔具 ； HALLO ； M形扭簧 ； 輸出回授滑動控制器

並列摘要

For people who have the ability to complete basic movements (i.e. sit, stand up and up-down the stairs, etc…), the objective of this thesis is aimed to design and implement a Wearable Hybrid Assisted Lower Limb Orthosis (HALLO), which could provide 10% of knee torque from active device, reducing the burden of knee, and slow down the degradation of knee joint. This thesis is developed based on the first generation of HALLO, but to improve its shortcomings, it will thus be re-designed by new methods. The goal is to make this wearable assistive devices more compact, and practical.
To achieve these objectives, a special designed M-shaped flexible rod [23] is adopted to store the potential energy between different human body gestures, such as stand and sit, then a DC motor is adopted as a variable damper, to control the releasing rate of potential energy from the flexible rod. Anti-acting of these two forces to perform appropriate leg providing assisting-torque to the knee, then with a discrete-time output feedback sliding-mode controller design [18] is applied to achieve the goals more efficiently. Finally, wearing the device to perform a variety of basic movements are presented through experiments. And the efficacy is further verified by investigating the EMG (electromyogram) signals.

並列關鍵字

Wearable Lower Limb Orthosis ； HALLO ； M-shaped flexible rod ； output feedback sliding-mode controller

參考文獻

[23]黃立成，下肢輔具之撓性桿件的分析與設計，碩士論文，國立清華大學動力機械工程學系，2007。

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