具順應性之手部外骨骼系統研發

Abstract

在全世界，有許多人因為疾病或是意外事故導致身體的殘疾，這些患者可能因此造成生活品質下降。基於此，本論文開發設計一手部外骨骼系統，將之命名為HANDEXO，來輔助手部力量不足之使用者抓取物品。在此系統中，我們加入可變順應性控制，能自行判斷夾取物品之軟硬度，選擇合適之系統參數，讓HANDEXO可以穩定輔助使用者夾取軟硬度不同之物品。實驗結果顯示HANDEXO 針對不同軟硬度之物均能施加穩定之抓取力，展現此系統之實用性，已具應用到實際生活的可能性。

There are many people suffering from physical disabilities caused by stroke or accident all over the world. These handicapped people may not be able to perform certain activities in daily life. Motivated by it, in this thesis, we developed a hand exoskeleton, named as HANDEXO. It is designed to provide grasping assistant to help handicapped people take things they originally can’t take. In addition, we equipped the system with an adaptive compliance control strategy, which allows HANDEXO to recognize the hardness of the objects and select suitable parameters for control. Through this control strategy, HANDEXO is able to provide stable grasping force for objects with different hardness. Experiment were performed to determinate the effectiveness of the proposed system, showing its potential for practical applications.