基於環境偵測之行動輔具主被動式導引

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之主動導引系統，結合環境資訊，並實踐於我們所研發的i-go上，所提出兩種導引演算法，其一是斜坡導引演算法，其二是避障導引演算法，顧名思義，前者可在斜坡上導引使用者到指定位置及希冀的朝向角，後者則是可以導引使用者閃避障礙物外，亦可到達指定的位置以及希冀的朝向角。本實驗室所開發的行動輔具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。

Nowadays,the critical issue of aging population is getting more and more serious. It comes to realization that how to care the senior citizen well about their livelihood has grown into an important task for us. Along with the progress of the robot technology, several robot walking helpers have been developed. It motivates us to also develop a robot walking helper, named i-go, in our laboratory for assisting the daily lives of the elderly. In the thesis, based on navigation techniques previously proposed, we develop two guidance algorithms to integrate environment information for the passive walking helper, and realize them in the i-go. They are (1) the slope-guidance algorithm and (2) obstacles avoidance and guidance algorithm. The former can guide the user to the desired position and orientation on the slope, and the latter not only guide the user to avoid obstacles, but also to the desired position and 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 to tackle the conditions of memory decline and poor sense in orientation.