真實環境下之被動式行動輔具避障導引系統開發

Abstract

台灣老年人口於101年底達到260萬152人，佔人口數11.15%，老年人口加劇，凸顯照顧老年人生活起居等重要課題。因機器人科技的進步，許多樣式的行動輔助機器人逐漸的發展成熟，本實驗室也開發出一被動式行動輔助機器人i-Go，協助老年人行走，避免因下肢無力，不願行走而產生更多慢性疾病產生，例如著糖尿病、骨質疏鬆等慢性疾病。為輔助老年人行走所以提出了被動式避障導引策略以應用於被動式輔助機器人，導引功能是使用輔具時一必備條件，協助使用者到達目的並活動身體，但在導引過程中免不了會在既定導引路徑上遭遇到障礙物，所以在此提出了避障策略因應障礙物，避障策略參考真實環境中障礙物和輔具關係，並依障礙物行徑方向提出兩種避障模式，等待控制模式及引導控制模式。等待控制模式可以藉由減速等待障礙物從前方橫向通過，引導控制模式可以藉由轉向避開障礙物，我們的目標是應用於真實的生活環境，但因是被動式輔助機器人，移動能力有限，故只能在較空曠不壅擠環境下使用。

Along with the progress in medicine, the life expectancy of human is extended and the population of elderly in societies also increases rapidly. The elders with the degrading health conditions may not walk steadily. It reduces the willing of the elders to mobilize their bodies. Therefore, the concept of a robot walking helper has been proposed. To bring a passive walking helper into the elderly daily lives, we propose an obstacle avoidance and guidance strategy. The guidance strategy is passive receding horizon passive control. It can guide the user to the goal smoothly and prevent the robot walking helper from moving too fast. When the robot walking helper guides the user, it may encounter the obstacle. Thus, we propose the obstacle avoidance strategy that considers obstacle’s movement. There are two control modes in the proposed avoidance strategy, steering control mode and waiting control mode. These two control modes can deal with different kinds of obstacle’s movement. Because of the limitation of the passive robot walking helper, it is intended to be used in the real environment that is not crowded.