基於退卻平面控制之被動式行動 輔助機器人路徑導引

Abstract

由於現今醫療科技的進步延長了人類平均壽命，加上出生率逐年下降，人口老化的問題逐漸浮上檯面，因此照顧銀髮族的生活起居成為一個重要的課題。隨著科技的進步，各式各樣的行動輔具機器人之發展越趨成熟，本實驗室已開發一款被動式行動輔具i-Go，希望能降低銀髮族對於行動不便的困擾。於本論文中，我們利用預測模形狀態的策略，以達成行動輔具導引控制的目的，並改良先前研究提出之路徑規劃方式，結合這兩種方法，能夠計算出合適的剎車力，藉由剎車力的輔助可以平順地導引使用者，並且能讓使用者停在目的地。經過實驗及模擬結果證明，導引演算法能成功實現在行動輔具i-Go上，未來希望能進入醫院或是療養院實際幫助有需要的使用者，除了導引使用者前往目的外，也能讓銀髮族使用輔具時更加安心。

In recent years, the progress in medical technology has contributed to longer life-span of human being. Due to the decrease of birthrate, the problem of aging of population has been emerged. How to take good care of the elderly is an important issue around the world. Along with the progress of the robot technology, various kinds of robot walking helpers have been developed. It motivates us to develop a robot walking helper, named i-Go, in our laboratory to tackle the inconvenience of the elderly in their daily life. In this thesis, we propose using the strategy of model prediction to achieve guidance and control of the walking helper. The strategy, combined with a path planning method newly developed, can generate appropriate brake torques sent to the walking helper for assistance. The experiment and simulation results show that the proposed system is effective on the i-Go. We expect, in the near future, the i-Go will be ready for elderly assistance.