下肢輔助外骨骼的控制系統的研發

Development of a control system of a walking-assistive device on lower limb

黃胤禎(Yin-Chen Huang)

指導教授 ： 張培仁

共同指導教授 ： 施文彬(Wen-Pin Shih)

國立臺灣大學/工學院/應用力學研究所/碩士(2017年)

https://doi.org/10.6342/NTU201701062

摘要

本研究擬研發「運用腦波控制之行走輔具平台」，旨在分析人的腦波，並使人在意念階段即可控制行走輔具，來達到更加直觀的輔助行動體驗。近幾年社會有趨向高齡化的現象發生，造成復健行走或不良於行等問題日益明顯， 如何利用輔具平台來降低醫療支出，儼然成為非常重要的研究課題。且由於意外受傷或自然老化造成所謂的看護問題，會使得社會經濟出現停滯不前，競爭力下降與勞力失衡等問題。綜上所述，受傷復健、行走輔助是一門十分重要的課題。

欲發展一人體輔具平台以減少上述問題所造成的社會經濟負擔，本研究欲從意念控制著手，為了要達到可靠的腦波訊號量測，腦電儀必須先經過校正；故提出與真實人體皮膚性質相似的人工仿體進行腦電儀的校正工作。腦波訊號是微弱的，為了能克服雜訊的干擾，將進行動態振動測試來去除走路所造成之晃動雜訊以強化腦波訊號，並進行搜尋人體想要走路的意念特徵之演算法開發。接著為確保使用者確實想進行走路的行為以及為帶給使用者最理想的行走輔助，本研究將進行下肢生物力學的走路模型建構，分析人體走路時之運動情形。最後，結合走路意念、下肢力學模型以及馬達三種模式之自動控制，完成「運用腦波控制之行走輔具平台」。

關鍵字

人工皮膚仿體 ； 腦波 ； 生物力學 ； 輔具 ； 外骨骼

並列摘要

This research attempts to develop a brain-controlled system for a walking assistive device in the hope to provide more intuitive walking assistance experience. Due to the rapid growth of aging population, efficient and effective rehabilitation or walking assistance has become highly demanded. How to use assistive device to reduce medical expenses has also become a very important research issue. Care problems caused by accidental injury or natural aging can lead to stagnation in social economy, declining competitiveness, labor imbalances and so on. As above, an effective device to facilitate injury rehabilitation and walking is to be developed.
To develop an assistive device for human beings for reducing social economy loading, we intend to start from the mind control. To implement reliable brain signal measuring, EEG device must be calibrated first. We propose a calibration phantom, whose electrical and mechanical properties are similar to those of real human skin. To overcome the low signal-to-noise ratio of the EEG, a dynamic vibration test is carried out to characterize the noise caused by human walking. We also develop an algorithm to identify the intension of human walking. Based on a lower limb biomechanics model, three modes of a motor automatic control system are used to drive the walking assistant device.

並列關鍵字

Artificial phantom ； EEG ； biomechanics ； assistive devices ； exoskeleton ； control

參考文獻

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