Please use this identifier to cite or link to this item:
標題: 神經偏癱者人體運動狀態之即時估測與性能評估
Real-Time Estimation and Performance Evaluation of Human Motion Status for People with Hemiplegia
作者: 趙建智
Chien-Chih Chao
關鍵字: EMG Sensing;foot pressure sensing;posture sensing;bending sensing;Hemiplegia;motion status;motion detection;Powered Exoskeleton.;肌電感測;足底壓力感測;姿態感測;彎曲檢測;偏癱運動狀態;運動檢測;動力外骨骼
引用: [1] 'Japanese Robot Suit Approved For Worldwide Rollout'[Online].Available:, 2014. [2]'What's HAL?'[Online].Available: /index.htm , 2014. [3] H. Kawamoto, Y. Sankai, 'Comfortable Power Assist Control Method for Walking Aid by HAL-3,' in Proc. of 2012 IEEE International Conference on Systems, Man and Cybernetics, pp.305- 311, 2002. [4]K. Kiguchi,S. Kariya, K. Watanabe, and T. Fukuda, 'Application of Multiple Fuzzy-Neuro Controllers of an Exoskeletal Robot for Human Elbow Motion Support,' Transactions on Control,Automation, and Systems Engineering, vol.4, no 1, pp.49-54,March 2002. [5] 'Raytheon XOS 2: second Generation Exoskeleton Suit (XOS 2)' [Online].Available:, 2014. [6]T. Sakurai and Y. Sankai, 'Development of Motion Instruction System with Interactive Robot Suit HAL,' in Proc. of IEEE International Conference on Robotics and Biomimetics, Guilin, China, pp.1141-1147, Dec.19-23,2009. [7] 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. [8]K. Kong and M. Tomizuka, 'A Gait Monitoring System on Air Pressure Sensors Embedded in a Shoes,'IEEE/ASME Tran.Mechatronics,vol.14, no.3, pp. 358-370, Jun.2009. [9]'FlexSensors'[Online].Available: aSymbol/flex_sensor.html, 2014 [10]林俊宏 韓威如 莊智元編著,LabVIEW 硬體介面 DAQ感測篇(含生理感測), 高立圖書 民 95。 [11] '圖形化系統設計 (GSD)' [Online].Available:美商國家儀器公司 , 2014. [12]蕭聖昌, 偏癱瘓者動力外骨骼裝系統之機電整合設計與轉矩控制, 國立中興大學電機系碩士論文 101年6月 [13] A. L. Ricamato and J. M. Hidler, 'Quantification of the dynamic properties of EMG patterns during gait, 'Journal of Electromyography and Kinesiology,vol. 15, no. 4, pp.384-392,2005 [14]D. P. Ferris, 'Powered Lower Limb Orthoses for Gait Rehabilitation, 'Topics in Spinal Cord Injury Rehabilitation,vol. 11, no. 2, pp.34-49, 2005. [15]J. F. Veneman,R. Kruidhof,E. E. G. Hekman,R. Ekkelenkamp,E. H. F. Van Asseldonk, and H. Van der Kooij, 'Design and Evaluation of the LOPES Exoskeleton Robot for Interactive Gait Rehabilitation, 'IEEE Trans.on Rehabilitation Engineering,vol 15(3),pp.379-386.2006 [16]C. Fleischer, D. G. Hommel, 'A Human-Exoskeleton Interface Utilizing Electromyography,'IEEE Trans.Robotics,vol.24, no.4, pp.210-222, Aug. 2008. [17]K. Kong and M. Tomizuka, 'A Gait Monitoring System on Air Pressure Sensors Embedded in a Shoes,' IEEE/ASME Tran.Mechatronics, vol.14, no.3, pp. 358-370, Jun.2009. [18] S. Lee, Y. Sankai ,'Power assist control for walking aid with HAL-3 based on EMG and impedance adjustment around knee joint,' in Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems ,vol.2, pp. 1499 - 1504 , 2002. [19]謝岱凌 張家維 徐如欣 蕭子健編著, LabVIEW 201X 虛擬儀控程式設計, 高立圖書 民100.01。 [20]劉建昇 張信豪等編著,數位訊號處理LabVIEW &生醫訊號, 宏友圖書 第一版 2006。 [21]葉倉甫,神經偏癱患者之生理訊號分析與運動狀態判定,國立中興大學電機系碩士論文 102年1月。 [22] 'Triple Axis (X/Y/Z) MEMS Gyroscopes'[Online].Available:美商應美盛 股份有限公司,2014 [23] H. Kazerooni, J. Racine, L. Huang, R. Steger, 'On the Control of the Berkeley Lower Extremity Exoskeleton (BLEEX),' in Proceedings of the 2005 IEEE International Conference on Robotics and Automation Barcelona, Spain, pp. 4353–4360, Apr. 2005. [24] Y. Hasegawa, J. Jang and Y. Sankai, 'Cooperative walk control of paraplegia patient and assistive system,' in Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, St.Louis,USA , pp.4481-4486, Oct.11-15,2009. [25] 'lower extremities - Gait therapy'[Online].Available:瑞士HOCOMA公 司 ,2014 [26]孫宗瀛 楊英魁 編著, 'Fuzzy控制理論、實作與應用' 全華科技圖 書 民94.09。 [27] C. C. Chao, C. C. Tsai, C. F. Yeh, 'Real-Time Estimation and Performance Evaluation of Human Motion Status for People with Hemiplegia,' in Proc. of 2014 National Conference on Advanced Robotics (NCAR 2014), National Taiwan University of Science and Technology, Taipei, Taiwan, 6-8 June, 2014.
The purposes of this thesis are to study the action of nerve hemiplegic patients by determining the physiological state of the movement via four designed physiological sensing modules, to propose two real-time estimation and performance evaluation methods of human states in movement by the four integrated sensing systems, and to design and implement the low-cost processing technologies. The measurements of muscle signals were analyzed, and the analytical results were applied to set the parameters, in order to control the drive motors to comply with bending of the knee and hip joints, and thus allow patients to return to normal gait without relying on assistive devices for walking. The main research methods in the thesis are divided into the following four aspects. The first one is to design, integrate and develop a smart sensing system that can detect the states of hemiplegia patient's motion, This smart sensing system includes four subsystems: i). the foot pressure sensing subsystem placed on the bottom of feet; ii). the two-leg EMG sensing subsystem placed in the large muscle groups of thighs; iii). The pose posture and motion sensing subsystem to detect human activities; iv). the bending detection subsystem to detect bending knees. Via the interfacing technologies, these four sensing subsystems are integrated to understand the physiological responses and abnormal gait of nerve paralysis patients. The second one is to propose the real-time estimation and evaluation method to determine the states of hemiplegic patient's motion. The third one is to propose the fuzzy real-time estimation and evaluation method to improve the correct detection rate and wide applicability to many patients. The fourth one is to capture and analyze the measurement signals by the LabVIEW software to verify the results of physiological intelligent sensing system with the two proposed real-time estimation and evaluation methods practically, in order to facilitate further the actual physiological signal intelligent sensing system to appropriately drive foot powered exoskeleton devices for hemiplegic patients. By detecting and analyzing the data of the experiments in real time, we confirm that the four physiological sensing systems together with both integrated real-time estimation and evaluation methods are effective in finding the states of movement of nerve hemiplegic patients.

其他識別: U0005-2811201416194837
Rights: 同意授權瀏覽/列印電子全文服務,2017-08-31起公開。
Appears in Collections:電機工程學系所

Files in This Item:
File Description SizeFormat Existing users please Login
nchu-103-5099064016-1.pdf10.59 MBAdobe PDFThis file is only available in the university internal network    Request a copy
Show full item record

Google ScholarTM


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.