穿戴式下肢外骨骼機器人在步行輔助之研究

Research on a Wearable Lower-Limb Exoskeleton Robot for Walking Assistance

徐士恆(Hsu Shi-Heng)

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(2020年)

https://doi.org/10.6345/NTNU202001352

摘要

本論文「穿戴式下肢外骨骼機器人在步行之研究」旨在開發可輔助步行之穿戴式下肢外骨骼機器人。文中探討基於動力輔助的下肢可穿戴外骨骼機器人的設計、控制和評估，而功能是著重在對於尚有行動能力的穿戴者給予在擺盪期的動力輔助，如巴金森氏症患者。為了在步行時提供適當的動力輔助與步態追隨，本論文比較了基於線性擴展觀測器LESO (Linear Extend State Observer)之三種控制法，分別為線性自抗擾控制器LADRC (Linear Active Disturbance Rejection Controller)、滑模控制SMC (Slide Mode Control)與快速終端滑模控制法FTSM (Fast Terminal Slide Mode)。最後也以三維動態捕捉系統與肌電訊號量測等實驗，驗證本論文所開發的下肢外骨骼機器人在步行輔助之有效性。

關鍵字

穿戴式下肢輔助機器人 ； 步態分析 ； 線性擴展狀態觀測器(LESO) ； 三維動作捕捉分析系統 ； 線性自抗擾控制器(LADRC) ； 快速終端滑模控制法(FTSM) ； 滑模控制(SMC)

並列摘要

This thesis “Research on a Wearable Lower-Limb Exoskeleton Robot for Walking Assistance” aims to develop a wearable robot for walking assistance. In the research the design, control and evaluation for the power assistance-based exoskeleton robot were investigated. Especially, an emphasis was given to the power assistance to those who still have walking ability . In order to provide appropriate power assistance at swing phase while walking, we designed different LESO (Linear Extend State Observer) based controllers, LADRC (Linear Active Disturbance Rejection Controller)、SMC (Slide Mode Control) and FTSM(Fast Terminal Slide Mode) for the robot. Finally, we used the three-dimensional motion capture analysis system and EMG sensors to investigate the assistance effects of the exoskeleton for wearers.

並列關鍵字

Wearable Lower-Limb Exoskeleton ； Gait analysis ； LESO ； Three-dimensional motion capture analysis system ； LADRC ； FTSM ； SMC

參考文獻

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