基於使用者意圖之機器人行動輔具操控輔助系統研發

Abstract

近年來，由於醫療科技的進步提高了人類平均壽命，加以出生率逐年下降，人口老化的問題逐漸浮上檯面，照顧銀髮族的生活起居更成為重要的議題。現今各式各樣的行動輔具機器人之發展漸趨成熟，本實驗室也開發行動輔具i - Go以應對銀髮族生活不便的困擾。在本論文中，我們以力感測握把收集使用者握力並分類其操作意圖，經模糊系統推導出對應的煞車力輔助使用者操作。為因應操作者使用習慣不同，我們另外設計一學習方法，透過多次迭代，可訓練出符合個別使用者之模糊控制參數，讓行動輔具符合使用者的使用習慣。實驗結果證明，透過煞車力輔助，使用者能更加精確地操作行動輔具。

In recent years, the progress in medical innovation has contributed to longer life-span of human being. Cause of the decrease of birthrate birthrate , the problem of , the problem of , the problem of , the problem of , the problem of , the problem of , the problem of aging of aging of aging of aging of aging of aging of aging of aging of population has been emerged. Taking care of the elderly now became an important has been emerged. Taking care of the elderly now became an important has been emerged. Taking care of the elderly now became an important has been emerged. Taking care of the elderly now became an important has been emerged. Taking care of the elderly now became an importanthas been emerged. Taking care of the elderly has now became an importanthas been emerged. Taking care of the elderly has now became an importanthas been emerged. Taking care of the elderly has now became an important has been emerged. Taking care of the elderly now became an importanthas been emerged. Taking care of the elderly has now became an important has been emerged. Taking care of the elderly now became an importanthas been emerged. Taking care of the elderly has now became an important has been emerged. Taking care of the elderly now became an importanthas been emerged. Taking care of the elderly has now became an important has been emerged. Taking care of the elderly now became an important has been emerged. Taking care of the elderly now became an importanthas been emerged. Taking care of the elderly has now became an important has been emerged. Taking care of the elderly now became an importanthas been emerged. Taking care of the elderly has now became an important has been emerged. Taking care of the elderly now became an important has been emerged. Taking care of the elderly now became an importanthas been emerged. Taking care of the elderly has now became an important has been emerged. Taking care of the elderly now became an importanthas been emerged. Taking care of the elderly has now became an important has been emerged. Taking care of the elderly now became an importanthas been emerged. Taking care of the elderly has now became an importanthas been emerged. Taking care of the elderly has now became an important has been emerged. Taking care of the elderly now became an importanthas been emerged. Taking care of the elderly has now became an importanthas been emerged. Taking care of the elderly has now became an important has been emerged. Taking care of the elderly now became an important has been emerged. Taking care of the elderly now became an importanthas been emerged. Taking care of the elderly has now became an important issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming mature. For solving the problem of mature. For solving the problem of mature. For solving the problem of mature. For solving the problem of mature. For solving the problem of mature. For solving the problem of mature. For solving the problem of mature. For solving the problem of mature. For solving the problem of mature. For solving the problem of mature. For solving the problem of mature. For solving the problem of mature. For solving the problem of mature. For solving the problem of mature. For solving the problem of mature. For solving the problem of inconvenient inconvenient inconvenient in the elderly in the elderly in the elderlyin the elderly in the elderlyin the elderly’s daily life, our s daily life, our s daily life, our s daily life, our s daily life, our s daily life, our s daily life, our s daily life, our s daily life, our s daily life, our laboratory laboratorylaboratory laboratory also develop a walking helper also develop a walking helper also develop a walking helper also develop a walking helper also develop a walking helper also develop a walking helper also develop a walking helper also develop a walking helper also develop a walking helper also develop a walking helper also develop a walking helper also develop a walking helper also develop a walking helper also develop a walking helper also develop a walking helper also develop a walking helper “i - Go. ” In this In this In this In this thesis, we gather the user’s grip force by a force-sensing handle and sort the it to different human intentions. The corresponding brake torque is evaluated from grip force via the fuzzy system. For different users, we design a learning method which gets fuzzy control parameters via iterated training. This system adapts individual characteristic and assists users to manipulate the walking helper. The experiments show that the users can manipulate the walking helper more accurately with the brake torque.