基於上肢外骨骼機器人之模擬器模擬器設計與控制

Abstract

隨著科技的進步，機器人科技也快速的蓬勃發展，其中穿戴式外骨骼機器人技術更是在近年來受到了國內外高度重視，對於應用在醫療復健與行動輔助之開發尤為快速，未來國內外勢必將面臨醫療資源、人員不足之狀況，因此穿戴式機器人將扮演相當重要的角色，本實驗室所開發的HAMEXO-I上肢外骨骼機器人，即是針對因中樞慢性疾病或脊髓損傷，導致上肢活動功能受損的病患進行復健。由於外骨骼機器人是直接穿戴在使用者身上，其設計上比起傳統的工業機械臂更具挑戰性，機構設計上不僅要輕量化，還要顧慮使用者穿戴時的舒適度及穿戴式機構與人類上肢臂的契合度，更重要的是要兼顧穿戴式機械臂本身與使用者之間交互作用的安全性考量，另外合適的控制策略來讓使用者順利地完成任務工作，也相當重要。基於以上原因，模擬器的開發與介面設計十分必要，本論文以HAMEXO-I為應用實例，進行模擬器之設計與控制，目標設計一種讓使用者方便性的操作，並能夠通用於各種上肢外骨骼機械臂開發的模擬器，包含運動學D-H模型建立、任務路徑規劃、動力學建模、傳統PID與智慧型模糊PID的控制策略等全盤之模擬功能。本論文期望能實踐出讓開發者在硬體迴路實現之前能有接近實際情況的模擬數據分析，以及讓使用者能透過模擬器介面，經由一連串的基本數據輸入、簡單操作及控制策略上的彈性選擇，就能檢驗所模擬之穿戴式機械臂的控制性能，提供使用者在硬體迴路實現之參考。

Along with the fast development of various related technologies, robot technology has grown rapidly. Exoskeleton robots, which can be used for medical applications, such as assistance and rehabilitation, are progressing significantly. The upper-limb exoskeleton robot developed by our laboratory, named as HAMEXO-I, aims to be applied in the rehabilitation for arm injury due to damage to central nervous system and spinal cord. As exoskeleton robots are worn by people, their design is much more challenging when compared with conventional industrial robots. The mechanism design must not only consider the weight but also the comfort, especially the fitness of human arms with them. Most importantly, the users integrated with exoskeleton robots must be safe during rehabilitation tasks. Moreover, proper control strategy should be provided for governing the execution of exoskeleton robots. Based on these reasons, the development of a simulator which provides comprehensive analysis is imperative. In this thesis, we develop a user-friendly simulator with various functionalities for exoskeleton robots and apply it to our developed upper-limb exoskeleton, HAMEXO-I. By inputting a series of basic parameters and the choice of control strategy, the users can easily employ the simulator to obtain simulation results that are close to those in real environments for parameter adjustment and hardware-in-the-loop implementation.