磁流變液應用在輔具適應性關節之研究開發

Research and Development of a Compliant Exoskeleton Joint by Using Magneto-Rheological Fluid

林祐丞

指導教授 ： 張禎元

國立清華大學/工學院/動力機械工程學系/碩士(2014年)

摘要

隨著科技的日新月異，傳統的機械領域有部分的研究人員往智慧型機器人發展，其應用層面涵蓋了軍事、娛樂、醫療和復健看護領域等等。其中在復健看護這一區塊主要服務的對象為，因疾病或意外造成喪失肌肉功能之患者，其目的是期望透過機械的力量來幫助病患進行復健之工作。本研究目的為設計復健型輔具之適應性關節，其應用為保障病患於使用輔具時之安全性，透過磁流體的應用該關節之傳遞扭矩具有可變性，且具有最大扭矩限制的功能為此關節之設計特點。
本論文首先探討磁流體之流體性質，並將其流體性質可由外加磁場所控制之特點，應用在輔具之適應性關節設計上。本研究宗旨為輔具關節，由於其需穿戴於人體身上，在基於安全性的考量，因此本研究利用永久磁鐵取代電磁鐵來營造磁流體所需的磁場強度，透過改變永久磁鐵與磁流體之相對距離來達到磁場強度的控制，利用電磁模擬分析軟體Ansoft/Maxwell 3D進行磁場的計算模擬，可計算出磁鐵與磁流體在不同的相對距離下，磁流體的感應磁場強度，並透過理論計算出其所能傳遞之扭矩值，最後透過實驗的方式進行驗證。

關鍵字

外骨骼機器人裝置 ； 適應性關節 ； 磁流變液

並列摘要

As the technology advances, many studies on the fields of traditional mechanical engineering has turned to intelligent exoskeleton robotics, which include applications in military, entertainment, and rehabilitation medical uses. From the standpoint of physical rehabilitation, the aim of using exoskeleton robotics is to utilize mechanical power to assist patients in recovering from lose of arm movement due to diseases or accidents through a physical rehabilitation process. The purpose of this study is to design and develop a compliant joint to ensure safety of the users during the rehabilitation process. This compliant joint utilizes magneto-rheological fluid to vary transmitted torque of the joint. Also, it has safety to limit maximum torque that is transmitted.
This thesis first investigates properties of the magneto-rheological fluid. The properties of the magneto-rheological fluid can be controlled by the applied magnetic field and this characteristic is applied on the design of the compliant joint. Due to the fact that this rehabilitation device needs to be worn on the patients, permanent magnet is used instead of electromagnet to provide required magnetic field for the magneto-rheological fluid. The magnetic field exerted on the magneto-rheological fluid can be controlled by changing the distance between the permanent magnet and the magneto-rheological fluid. Using simulation software such as Ansoft/Maxwall 3D to calculate the magnetic field under different boundary conditions. Lastly, experiments are performed to compare the results with the theoretical results.

並列關鍵字

Exoskeleton robotic devices ； Compliant joint ； Magneto-rheological fluid

參考文獻

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