智慧型馬術模擬復健機之控制系統設計

The Intelligent Control System Design for the Simulated Hippotherapy Machine

辜玟棋(Wen - Ci Ku)

指導教授 ： 楊智旭

淡江大學/工學院/機械與機電工程學系碩士班/碩士(2015年)

https://doi.org/10.6846/TKU.2015.00127

摘要

智慧型馬術模擬復健機可同時復健下肢肌肉群、腰部肌力及訓練身體自主平衡，由於比較嚴重的患者可能下肢較無力，導致無法踩動腳踏板，本研究之目的是設計一個智慧型馬術模擬復健機的動力輔助控制系統，來輔助患者可依照自身的踩踏力量，讓AC伺服馬達輸出相對應的動力帶動腳踏板及座椅，並同時達成上半身核心肌群與下肢肌群，達到復健的效果。
本動力輔助控制系統有兩種模式來輔助患者；第一模式為輔助動力模式，利用踩踏輔助裝置，偵測患者踩踏的力量與飛輪轉速輸入至模糊控制器，再利用模糊控制器輸出電壓訊號使AC伺服馬達產生動力帶動腳踏板及座椅，讓患者能夠踩動且同時訓練腹部核心肌群達到復健之目的。第二模式為等速度運動，採取等速運動的方式讓患者被動做復健，可以訓練其肌耐力，達到肌肉有效的收縮運動。最後，模擬實驗方式驗證本控制系統在不同的踩踏力下馬達則以輸出相對應的動力來輔助患者，達到復健之目的。

關鍵字

踩踏輔助裝置 ； 動力輔助控制系統 ； 模糊控制器

並列摘要

The Intelligent Simulated Hippotherapy Machine is helpful to rehabilitate the muscles of legs and waist, also it is beneficial to balance training during the rehabilitation treatment simultaneously. As a result of legs weakness, the patients who are much more serious cannot tread the pedal. For this reason, the objective of this research is to develop power assisted control system of the Intelligent Simulated Hippotherapy Machine. In order to assist patients to tread in accordance with their own strength, the AC servo-motor send a corresponding output voltage to drive the pedals and seat. Owing to this design, the patients can achieve the proper rehabilitated effect of the upper part of the core muscle group and lower limb muscle groups at the same time.
This system has two assisted modes for patients. First mode is auxiliary power system; it takes advantage of stampede auxiliary device to detect the signal of trampling strength and the rotating speed of flywheel. Then transfer it into fuzzy controller and calculate the voltage signal to improve AC servo-motor produces electrical power to drive the pedals and seat. By this, the patients can tread and rehabilitate the muscles of waist all at once.
The second mode is for the constant velocity motion. With uniform motion, the patients can do their recovery passive. This method not only can train their muscle endurance, also can make muscular contraction efficient. At last, the simulated experiment verify this control system can assist the patients by different strength of trampling with corresponding output power to reach the purpose of physical therapy.

並列關鍵字

Stampede Auxiliary Device ； Assisted Control System ； Fuzzy controller

參考文獻

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