雙臂機器人之行動輔助設計

Abstract

本論文提出一個具有行動輔具功能的雙臂機器人設計，此機器人具有兩種操作模式，而可經由使用者的需求做轉換。當機器人處於抓取模式(grasping mode)時，機器人可透過電腦視覺及六軸機械手臂來進行抓取物品的任務；另一方面，當使用者有行動輔助的需求時，機器人能夠轉換成輔助模式(supporting mode)提供使用者扶持的協助。透過本論文所提出的雙臂環扣機構，及環扣路徑規劃策略來達到雙臂環扣並且固定成行動輔具握把供使用者扶持。本論文利用安裝於機械臂之六軸力/轉矩感測器測得使用者的施力做為系統輸入，判斷使用者的意圖並利用順應性控制來達成行動輔助功能，使機器人能夠順應使用者的施力大小及方向而做出因應的移動行為。論文中以實驗驗證機器人雙模式操作之功能，以及環扣鎖定及解扣的設計，展示本論文所提出之行動輔助系統能夠給與使用者的輔助效果。

In this thesis, a dual-arm mobile robot that is presented to walking support to a user. This robot has two operation modes, which can be converted by the user’s need in any situation. When the robot is in grasping mode, the robot can fetch an object through computer vision and 6-DOF robot arms. On the other hand, when the user wants walking help, the robot can be configured to the supporting mode to provide walking assist. In this mode, the robot arms are configured to close and hold each other by the special designed buckle mechanism. In this thesis, a path planning strategy is proposed to achieve arm-closing and buckle locking and unlocking. In this way, the robot arms are configured into handrails for user support. Furthermore, a 6-DOF force/torque sensor is used to obtain the user's exertion force for estimation of the user's motion intent. The walking support system determines robot velocity based on a compliance controller to provide the mobility aids. Several experiments validate that the proposed dual-mode design and the walking support system can provide the user walking assist.