Please use this identifier to cite or link to this item: http://hdl.handle.net/11455/9018
標題: 神經偏癱瘓者動力外骨骼裝之自主運動支持控制
Voluntary Motion Support Control of a Powered Exoskeleton for Patients with Hemiplegia
作者: 蕭聖昌
Hsiao, Sheng-Chang
關鍵字: 應用人因工程學;Applied Ergonomics;力矩控制;肌電圖;神經偏癱;患者;動力外骨骼裝;自主運動支持控制;torque Control;EMG;Hemiplegia;Patients;Powered-Exoskeleton;voluntary motion support-control
出版社: 電機工程學系所
引用: [1] 通用動力公司 http://www.ge.com. [2] A. Zoss, H. Kazerooni, A. Chu, “Biomechanical Design of the Berkeley Lower Extremity Exoskeleton (BLEEX),” IEEE/ASME Transactions on Mechatronics, vol. 11, no. 2, pp. 128–138, Apr 2006. [3] H. Kazerooni, J. Racine, L. Huang, R. Steger, “On the Control of the Berkeley Lower Extremity Exoskeleton (BLEEX)”, Proceedings of the 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain, pp. 4353–4360, Apr 2005. [4] 雷神公司 http://www.raytheon.com. [5] Ekso Bionics http://www.eksobionics.com/ekso. [6] Eliza Strickland “ Good-bye, Wheelchair ” IEEE Spectrum, vol.49, pp. 30-32, Jan 2012. [7] H. Kawamoto, S. Taal, H. Niniss, T. Hayashi,K. Kamibayashi, K. Eguchi, and Y. Sankai, “, Voluntary Motion Support Control of Robot Suit HAL Triggered by Bioelectrical Signal for Hemiplegia” Prof. of 32nd Annual International Conference of the IEEE EMBS, Buenos Aires, Argentina, pp. 462-466, August 31 - September 4, 2010. [8] H. Kawamoto, Y. Sankai,“Comfortable Power Assist Control Method for Walking Aid by HAL-3,” IEEE SMC,pp.1- pp.6,2002. [9] S. Lee, Y. Sankai, “Power Assist Control for Leg with HAL-3 Based on Virtual Torque and Impedance Adjustment,” IEEE SMC,pp.1- pp.6,2002. [10] S. Lee, Y. Sankai ,“Power assist control for walking aid with HAL-3 based on EMG and impedance adjustment around knee joint,”IEEE/RSJ International Conference on Intelligent Robots and Systems ,vol.2, pp. 1499 - 1504,2002. [11] D. Yulan ,” Applied Ergonomics” vol.2, pp.285- pp.289,2010. [12] T. Sakurai and Y. Sankai, “Development of Motion Instruction System with Interactive Robot Suit HAL,” Proceedings of the IEEE International Conference on Robotics and Biomimetics, Guilin of China, pp.1-7, Dec.2009. [13] H. Kawamoto, T. Hayashi , T. Sakurai, K. Eguchi and Y. Sankai, “Development of Single Leg Version of HAL for Hemiplegia,” 31st Annual International Conference of the IEEE EMBS, Minneapolis, Minnesota, USA,pp.1-6, Sep.2009. [14] T. Kawabata, H.Satoh and Y. Sankai, “Working Posture Control of Robot Suit HAL for Reducing Structural Stress,”Biomimetics, Guilin of China, pp.1-6, Dec. 2009. [15] A. Tsukahara, Y. Hasegawa and Y. Sankai ,“Standing-Up Motion Support for Paraplegic Patient with Robot Suit HAL,”The IEEE 11th International Conference on Rehabilitation Robotics, Kyoto International. Conference Center, Japan,pp.1-7,Jun.2009. [16] K Kong, J. Bae and M. Tomizuka, “Control of Rotary Series Elastic Actuator for Ideal Force-Mode Actuation in Human–Robot Interaction Applications,” IEEE/ASME Transactions on Mechatronics, vol. 14, no. 1, Japan, pp.1-9,Feb.2009. [17] H. Kawamoto, S. Taal, H. Niniss, T. Hayashi, K.i Kamibayashi, K. Eguchi, and Y. Sankai, “Voluntary Motion Support Control of Robot Suit HAL Triggered by Bioelectrical Signal for Hemiplegia,” The 32nd Annual International Conference of the IEEE EMBS, Buenos Aires, Argentina,pp.1-5,Aug.2010. [18] Y. Sankai, “Leading Edge of Cybernics: Robot Suit HAL,”SICE-ICASE International Joint Conference, Bexco, Busan, Korea,pp.1-2,Oct.2006. [19] M. Shingu, K. Eguchi and Y. Sankai, “Substitution of motor function of polio survivors who have Permanent Paralysis of Limbs by using Cybernic Voluntary Control, ”Proceedings of the 2009 IEEE International Conference on Robotics and Biomimetics, Guilin of China,pp.1-6,Dec.2009.
摘要: 
本論文的研究目的是探討適用神經偏癱瘓者動力外骨骼裝之機電整合系統設計,具強健功能的轉矩控制以及自主運動支持控制方法及其軟硬體實作。所設計的該單腳版動力外骨骼裝系統是由二組扭轉彈簧裝置、差速傳動齒輪裝置為基礎的扁平式無刷馬達所構成的單腳版動力輔助外骨骼裝之機電整合系統,加上單腳大腿側肌肉截取EMG信號與髖關節及膝關節處設置彈簧變形量所測得電位計信號之信號處理演算法則,搭配使用馬達的轉矩控制方法與自主運動支持控制方法,作單腳版動力外骨骼裝下肢運動,用以達成偏癱患者單側行動輔助。文中人因工程學(Applied Ergonomics)被用以探討人體下肢各部位舒適的活動範圍及調整,以利研製一套可穿戴於人體的單腳版動力外骨骼裝之行走輔助器。一具有前置濾波器與反饋PD控制器被設計,用以達成扁平式無刷馬達之強健轉矩控制。自主運動支持控制策略使用EMG訊號以及髖、膝兩關節的電位計信號,提供兩關節所需的轉矩,以利患者之行走。電腦模擬與實驗數據被用以說明所提方法與技術的可行性與實用性。

關鍵字:應用人因工程學、力矩控制、肌電圖、神經偏癱、患者、
動力外骨骼裝、自主運動支持控制。

This thesis presents methodologies and techniques for mechatronic system design, robust torque control and voluntary motion support control of a one-leg lower limb power exoskeleton for patients with hemiplegia. The designed one-leg power exoskeleton is equipped with two flat brushless DC motors and two potential meters respectively mounted on hip and knee joints, one set of EMG sensors together with their signal processing circuits, and one notebook computer with appropriate analog-to-digital convertors (ADCs) and digital outputs. Applied ergonomics is employed to design a comfortable range of active angles in both hip and knee joints, thereby implementing this pragmatic wearable power assistant unit. A robust torque controller is synthesized by integrating a pre-filter used to achieve almost deadbeat performance, and a proportional-derivative (PD) controller whose two gains are obtained using a linear quadratic regulation (LQR) approach. The voluntary motion support controller uses the measured EMG signals and current hip and knee joint angles to provide appropriate torques for both DC motors. Computer simulation and experimental data are conducted to illustrate the feasibility and practicality of the proposed methods and techniques.



Keywords:Applied Ergonomics, torque Control, EMG, Hemiplegia, Patients,Powered-Exoskeleton,
voluntary motion support-control.
URI: http://hdl.handle.net/11455/9018
其他識別: U0005-2408201220050100
Appears in Collections:電機工程學系所

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