應用於手部功能復健之無線仿人形機械手臂系統之研發

本研究利用彎曲感測器彎曲時所造成不同電壓值的特性，對手部進行彎曲角度的量測，再結合3D列印機械手臂、Zigbee無線傳輸並以Arduino微控制器為基礎，設計開發一套手部功能復健機械手臂系統。本研究提出兩個應用的大方向，一是機械手功能，讓本研究製作的3D列印機械手臂可以直接的透過資料手套控制，讓3D列印機械手臂像人手一樣，做出相同的手勢與動作；二是訓練功能，本研究設計了三種訓練的模式，分別符合不同病患的需求。在病患進行手部功能訓練的同時，利用資料手套與機械手臂進行互動達到手部功能復健的效果，也讓病患在復健的同時獲得樂趣，加速病患恢復的速度。本研究用Arduino微控制器完成了所有的軟硬體架構，用以降低成本，實現互動式復健機械手臂的理念，讓病患可以透過資料手套進行各項手部功能的復健，完成了手部功能復健無線仿人形機械手臂系統的研發。

關鍵字

資料手套； Zigbee無線傳輸；機械手臂；復健

並列摘要

The aim of this study was to design and develop a remote-controlled electric hand consisted of flex sensor, gloves, Zigbee wireless transmission, Arduino Microcontroller, and a 3D printed hand. This remote-controlled electric hand can be used for rehabilitation treatment and prosthetic hand. In this study, two general directions of application were presented: the function of robotic hand and the function of training. The function of robotic hand allows the 3D printing robotic hand could be directly controlled through the data glove, making the 3D printing robotic hand to be another human hand. Three training modes are designed in the function of training to satisfy the demands from different patients. The patients are able to play the interactive training game through the 3D printing robotic hand and the data glove in the rehabilitation system, and to finish the rehabilitation while having fun in the training game, speeding up the recovery. In this study, the microcontroller Arduino was used to completed all the hardware and software to reduce costs and achieve the concept of interactive rehabilitation robot hand, allowing the patients to be able to make the rehabilitation of hand function through the data glove. The system of wireless humanoid robotic arm with function of human hand rehabilitation is well-designed.