基於阻抗控制之髖膝外骨骼機器人輔助人體坐站轉換

Assistance of a Hip-Knee Exoskeleton Robot for Sit-To-Stand Transition Using Impedance Control

張貿淳(Chang Mao-Chun)

指導教授 ： 陳俊達

國立臺灣師範大學/科技與工程學院/機電工程學系/碩士(2023年)

https://doi.org/10.6345/NTNU202300197

摘要

本論文「基於阻抗控制之髖膝外骨骼機器人輔助人體坐站轉換」旨在使用阻抗控制開發可輔助人體做坐站轉換之穿戴式外骨骼機器人。本研究探討下肢穿戴式外骨骼機器人的外型設計、控制模型及其應用，主要功能是對尚有行動能力的人進行動力輔助，提供坐站轉換之輔助。其控制是以阻抗模型(Impedance Model)為基礎，基於線性擴展狀態觀測器(Linear Extend State Observer, LESO)來估測人體對外骨骼的干擾，並加入不同的控制法來分析其結果及相關應用探討。最後並以輔助正常人及輕度巴金森氏症患者進行結果分析，結果顯示本研究所開發的下肢外骨骼機器人可提供穿戴者做坐到站轉換的輔助。

關鍵字

下肢 ； 外骨骼 ； 阻抗控制 ； 線性擴展狀態觀測器 ； 快速終端滑模控制

並列摘要

This paper "Assistance of a Hip-Knee Exoskeleton Robot for Sit-To-Stand Transition Using Impedance Control" aims to use impedance control to develop a wearable exoskeleton robot that can assist human to do sit-to-stand transition. This research discusses the design, control model and application of the lower limb wearable exoskeleton robot. The main function is to provide power assistance for people who are still able to move, and to provide assistance for sit-to-stand transition. The control is based on the Impedance Model with a Linear Extend State Observer to observe the disturbance error and add different control methods to analyze the results and discuss the related applications. Finally, it assists normal individual and mild Parkinson's disease patients and analyze the results. The results show that the lower limb exoskeleton robot developed in this study which can provide assistance for the wearer to do sit-to-stand transition.

並列關鍵字

Lower limb ； exoskeleton ； Impedance control ； Linear extend state observer ； Fast terminal sliding mode control

參考文獻

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[2]SUITX - PHOENIX醫療外骨骼。取自: https://www.suitx.com/phoenix-medical-exoskeleton

[3]Ekso Bionics - EksoNR。取自: https://eksobionics.com/eksonr/

[4]W. Huo, S. Mohammed, Y. Amirat, and K. Kong, “Active Impedance Control of a Lower Limb Exoskeleton to Assist Sit-To-Stand Movement.” IEEE International Conference on Robotics and Automation (ICRA), 2016.

[5]W. Huo, H. Moon, M. A. Alouane, V. Bonnet, J. Huang, Y. Amirat, R. Vaidyanathan, and S. Mohammed, “Impedance Modulation Control of a Lower Limb Exoskeleton to Assist Sit-to-Stand Movements.” IEEE Transactions on Robotics, Vol. 38, iss. 2, pp. 1230-1249, Apr 2022.