上肢外骨骼機器人之實現與控制

Abstract

With the development of robot technology growing in recent years, exoskeletons robots have become a hot-spot for medical applications, which are providing assistance and rehabilitation for patients with locomotive problems caused by spinal cord injury and central nervous system damage, among others. In this thesis, we present the Human and Machine Exoskeleton I (HAMEXO-I) which is the first generation upper-limb exoskeleton developed by our laboratory. It is designed with the intention to provide comfort, safety, and control. A multi-function user-friendly GUI is also developed to facilitate the connection with the system. The aim of this thesis is to evaluate the HAMEXO-I in the aforementioned characteristics by conducting extensive experiments with different users based on handling a simple forward flexion exercise of the arm. The experimental results yielded acceptable results, although not satisfactory, thus providing useful information for the development of the HAMEXO-I.

With the development of robot technology growing in recent years, exoskeletons robots have become a hot-spot for medical applications, which are providing assistance and rehabilitation for patients with locomotive problems caused by spinal cord injury and central nervous system damage, among others. In this thesis, we present the Human and Machine Exoskeleton I (HAMEXO-I) which is the first generation upper-limb exoskeleton developed by our laboratory. It is designed with the intention to provide comfort, safety, and control. A multi-function user-friendly GUI is also developed to facilitate the connection with the system. The aim of this thesis is to evaluate the HAMEXO-I in the aforementioned characteristics by conducting extensive experiments with different users based on handling a simple forward flexion exercise of the arm. The experimental results yielded acceptable results, although not satisfactory, thus providing useful information for the development of the HAMEXO-I.