基於使用者意圖之機器人行動輔具操控輔助系統研發

Development of Human-Intention-Based Manipulation Assistive System for Robot Walking Helper

吳昌翰(Chang-Han Wu)

指導教授 ： 楊谷洋

國立交通大學/電機學院/電機與控制工程系所/碩士(2012年)

https://doi.org/10.6842/NCTU.2012.00765

摘要

近年來，由於醫療科技的進步提高了人類平均壽命，加以出生率逐年下降，人口老化的問題逐漸浮上檯面，照顧銀髮族的生活起居更成為重要的議題。現今各式各樣的行動輔具機器人之發展漸趨成熟，本實驗室也開發行動輔具i - Go以應對銀髮族生活不便的困擾。在本論文中，我們以力感測握把收集使用者握力並分類其操作意圖，經模糊系統推導出對應的煞車力輔助使用者操作。為因應操作者使用習慣不同，我們另外設計一學習方法，透過多次迭代，可訓練出符合個別使用者之模糊控制參數，讓行動輔具符合使用者的使用習慣。實驗結果證明，透過煞車力輔助，使用者能更加精確地操作行動輔具。

關鍵字

意圖偵測 ； 智慧型行動輔具 ； 模糊系統

並列摘要

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The corresponding brake torque is evaluated from grip force via the fuzzy system. For different users, we design a learning method which gets fuzzy control parameters via iterated training. This system adapts individual characteristic and assists users to manipulate the walking helper. The experiments show that the users can manipulate the walking helper more accurately with the brake torque.

並列關鍵字

Intention Detection ； Intellectual Walking Helper ； Fuzzy System

參考文獻

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