基於使用者施力與重心估測之下肢外骨骼機器人輔助設計

Abstract

下肢外骨骼機器人常見的用途可分為：行走輔助，復健和提升肌力。本論文的目標是開發適合高齡者使用的穿戴式下肢外骨骼輔助機器人，以幫助使用者更穩定的行走。在機器人控制方法上，本論文之控制策略是一方面利用壓力感測器來偵測使用者的重心，以補償行進中之地表變化，另一方面經由馬達軸編碼器訊號來偵測使者的施力，以估測其行走意圖，經整合兩者之控制輸出來達到輔助行走的功能。在硬體方面，本論文研製一套下肢外骨骼機器人的實體雛型，並且以實驗驗證所設計的外力估測的演算法，達成讓使用者輔助行走。實驗結果顯示所設計之外骨骼機器人能適時產生輔助轉矩，具有行走輔助與平衡保持的功能。

The purpose of lower limb exoskeleton works to enhance the user’s strength of lower limb by a control system and mechanism. The main applications of lower limb exoskeleton are to support user to walk, rehabilitation and to help for spiral injured patients. The goal of this thesis is to develop a lower limb exoskeleton to support elderly people to walk in balance. In this thesis, motor encoder signals are used to estimate move intention of user. Pressure sensors on foot button are used to detect the user center of pressure. We have designed a prototype of the lower limb exoskeleton based in a modular design. The experiments show that this lower limb exoskeleton can assist suitable torque at the correct time to let user walk easily and keep their balance.