輔助型下肢外骨骼機器人控制系統之研究

何柏融

doi:10.6342/NTU201703566

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輔助型下肢外骨骼機器人控制系統之研究

A Study on the Control System of Assistive Lower Limb Exoskeleton Robot

何柏融 , Masters　　Advisor：林達德　　

繁體中文 DOI： 10.6342/NTU201703566

下肢型外骨骼機器人；步態事件偵測；控制系統；角速度步態；慣性量測單元； lower limb exoskeleton robot ； gait phase detection ； control system ； angular velocity gait ； inertial measurement unit

Abstract │ Reference (36) │ Altmetrics

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Exoskeleton robot is a kind of equipment that can enhance human mobility, and there are three categories including upper limb, lower limb and whole body exoskeleton robot. The purpose of this research is to focus on the lower limb exoskeleton, and wish to apply this equipment on increasing the quality of the patients’ activities of daily living (ADL) as well as helping patient to recover from walking diseases. In this research, the objective is to undertake the former version of the lower limb exoskeleton robot, and modifies its control system so that robot can act more like a real human. In the previous version (Chang, 2015) uses the parameters from the user’s physical dimension to generate customized gait model to control exoskeleton robot, and also used the inertial measurement unit on the chest to determine current finite state. However, in the process of these motion, there is no any feedback control loop to monitor the whole process, and the exoskeleton system is not aware of the current walking status. As a result, this research introduced a whole new version of control system, including gait intension estimator, cadence control, gait phase detection algorithm, and trajectory generator. In this version of exoskeleton is able to walk in the maximum speed of 3 s/step, that is to walk 20 steps within a minute, this result is 4 time faster than the former version. Last but not least, a new ankle-foot orthosis and an embedded system was designed, this enables user to walk more comfortably and to increase mobility of the exoskeleton robot. This version of robot not just walks faster than the former version, but walk more like a real human.

Reference ( 36 ) 〈TOP〉

張家瑋。2015。輔助行走下肢外骨骼機器人之設計。碩士論文。台北：台灣大學生物產業機電工程學研究所。
連結：
Anam, K., & Al-Jumaily, A. A. 2012. Active exoskeleton control systems: State of the art. Procedia Engineering, 41, 988-994.
連結：
Dejnabadi, H., Jolles, B. M., & Aminian, K. 2008. A New Approach for Quantitative Analysis of Inter-Joint Coordination During Gait. IEEE Transactions on Biomedical Engineering, 55(2), 755-764. doi:10.1109/TBME.2007.901034.
連結：
Dinh, B. K., Cappello, L., & Masia, L. 2016, 26-29 June 2016. Localized Extreme Learning Machine for online inverse dynamic model estimation in soft wearable exoskeleton. Paper presented at the 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob).
連結：
Dollar, A. M., & Herr, H. 2008. Lower extremity exoskeletons and active orthoses: challenges and state-of-the-art. IEEE Transactions on robotics, 24(1), 144-158.
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