被動式機器人行動輔助器之被動導引

Abstract

近年來，人口老化的問題日益嚴重，照顧銀髮族的生活起居成為一個重要的課題。隨著醫療科技的進步，各式各樣的行動輔具機器人之發展越趨成熟，本實驗室所開發的行動輔具i-go也將成為一份子以因應銀髮族生活不便的困擾。 在本論文中，我們改良先前研究提出之被動式行動輔具導引演算法，並實踐於我們所研發的i-go上面，所提出兩種導引演算法，其一是位置控制演算法，其二是位置與朝向角控制演算法，顧名思義，前者可導引使用者到指定位置，後者除了可導引使用者到位置外，還可朝向使用者希冀的方向。 i-go之導引功能經實驗驗證，確實有其一定之功效，未來希望能夠幫助無法順利走往目標正在復健的銀髮族，以及提升特別是老人癡呆症、阿茲海默症的患者安全性，這些患者因記憶力衰退或是方向迷失無法到達目標。

Recently, the problem of aging population becomes more and more serious. How to take good care of the elderly is now an important issue around the world. Along with the progress of the medical technology, several robot walking helpers have been developed. It motivates us to develop a robot walking helper, named i-go, in our laboratory for assisting the lives of the elderly. In the thesis, based on navigation techniques previously proposed, we develop two guidance algorithms for passive walking helper, and realize them in our i-go. They are:(1)the position-controlling algorithm and (2)position and orientation-controlling algorithm. The former can guide the user to the desired position, and the latter not only guide the user to the desired position, but also to the desired orientation. The proposed guidance algorithms have been verified via the experiment. In future, we expect the i-go can assist the elderly for guidance in real environments. We will introduce the i-go to the Alzheimer’s patients, so that they can rely on it for movement under the conditions of memory decline and poor sense in orientation.