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研究生: 吳昱承
Wu, Yu Cheng
論文名稱: 下肢外骨骼機器人應用於巴金森氏病病患坐站輔助之研究
Research on Application of a Lower Limb Exoskeleton Robot to Assisting Parkinson's Patients from Sitting to Standing
指導教授: 陳俊達
Chen, Chun-Ta
口試委員: 林沛群
Lin, Pei-Chun
陳志鏗
Chen, Chih-Keng
陳金聖
Chen. Chin-Sheng
呂有勝
Lu, Yu-Sheng
陳美勇
Chen, Mei-Yung
陳俊達
Chen, Chun-Ta
口試日期: 2023/06/17
學位類別: 博士
Doctor
系所名稱: 機電工程學系
Department of Mechatronic Engineering
論文出版年: 2023
畢業學年度: 111
語文別: 中文
論文頁數: 173
中文關鍵詞: 巴金森氏病下肢外骨骼機器人坐站轉換自適應模糊滑模控制器
英文關鍵詞: Parkinson Disease (PD), lower limb exoskeleton robot, sit-to-stand transitions, adaptive fuzzy sliding mode controller
研究方法: 實驗設計法參與觀察法調查研究個案研究法紮根理論法主題分析比較研究
DOI URL: http://doi.org/10.6345/NTNU202300846
論文種類: 學術論文
相關次數: 點閱:106下載:0
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  • 本論文「下肢外骨骼機器人應用於巴金森氏病病患坐站輔助之研究」旨在開發一可輔助巴金森氏病病患坐站行為之下肢外骨骼機器人。本研究基於人體生物力學設計一下肢外骨骼機器人,其具有主動髖膝關節及被動踝關節,並提出機器主動模式以及穿戴者主動模式輔助巴金森氏病病患坐站轉換。在機器主動模式下,首先建立下肢外骨骼機器人坐站的動態模型,作為基於模型之下肢外骨骼機器人的輔助控制設計。本文所提出之輔助控制是以力矩觀測器為基礎之自適應模糊滑模控制器,該力矩觀測器可估測穿戴者對下肢外骨骼機器人的出力,減少外部干擾,以實現機器主動模式下的坐站軌跡追隨控制。在穿戴者主動模式下之坐站輔助,建立以足底壓力為輸入之阻抗模型,並應用基於力矩觀測器之自適應模糊滑模控制器,實現穿戴者主動模式下的阻抗控制。最後以初期巴金森氏病病患為對象,探討下肢外骨骼機器人之主被動坐站輔助之實現。結果顯示,本研究所提出之基於力矩觀測器之自適應模糊滑模控制器應用在下肢外骨骼機器人之主被動坐站輔助,可有效輔助巴病病患在坐站轉換動作,並可減少能量消耗及維持穩定性,未來將有助巴病病患之生活輔助。

    The main purpose of this dissertation “Research on Application of a Lower Limb Exoskeleton Robot to Assisting Parkinson's Patients from Sitting to Standing” aims to develop a lower limb exoskeleton robot to assist Parkinson's patients in their sitting-to-standing movements. This study designs a lower limb exoskeleton robot with active hip and knee joints and passive ankle joints based on human biomechanics. It proposes the active mode of the machine and the active mode of the wearer to assist Parkinson's patients in sitting-to-standing transitions. In the active mode of the machine, the dynamic model of the lower limb exoskeleton robot sitting-to-standing is first established as an control design for the lower limb exoskeleton robot based on the model. The control proposed in this paper is an adaptive fuzzy sliding mode controller based on the torque observer. The torque observer can estimate the wearer's torque to the lower limb exoskeleton robot, and minimize external interference in the active mode of the machine. For sitting-to-standing assistance in the active mode of the wearer, an impedance model is established with plantar pressure as input. The adaptive fuzzy sliding mode controller based on the torque mode observer is applied to the impedance control in the active mode of the wearer. Finally, the study focuses on Parkinson's patients with early symptoms and discusses the results of active and passive sitting-to-standing assistance using the lower limb exoskeleton robot. The results demonstrate that the adaptive fuzzy sliding mode controller based on the torque observer, proposed in this study, effectively assists Parkinson's patients in transitioning between sitting and standing. It can reduce energy consumption and maintain stability. In the future, this research will help provide life assistance to Parkinson's patients.

    中文摘要 i Abstract ii 誌謝 iv 目錄 v 表目錄 viii 圖目錄 ix 第一章 緒論 1 1.1 前言 1 1.2 文獻回顧 3 1.2.1 下肢外骨骼機器人設計及應用 3 1.2.2 坐站輔助研究 20 1.3 研究目的 24 1.4 論文貢獻 26 1.5 論文架構研究方法 27 第二章 下肢外骨骼機器人設計 28 2.1 設計總覽 28 2.1.1 人體解剖學概述 28 2.1.2 人體生物力學概述 29 2.2 髖關節設計 33 2.3 膝關節設計 34 2.4 踝關節設計 35 2.5 感測器與智能鞋墊 36 2.6 控制電路設計 39 第三章 機器主動之坐站輔助 41 3.1 坐到站運動分析 41 3.2 坐標系定義 43 3.3 動力學分析 45 3.4 控制器設計 45 3.4.1 滑模控制器 46 3.4.2 模糊滑模控制器 49 3.4.3 自適應模糊滑模控制器 53 3.4.4 控制器穩定性證明 56 3.4.5 基於力矩觀測器之自適應模糊滑模控制器 58 3.4.6 機器主動之坐站輔助實驗 61 第四章 基於阻抗控制之主動式坐站輔助 71 4.1 下肢外骨骼機器人之阻抗模型 71 4.2 基於阻抗模型之主動式坐站輔助實驗 72 4.2.1 以觀測器估測之力矩當輸入 72 4.2.2 以足底壓力轉換力矩當輸入 84 4.2.3 兩種方法的比較 96 第五章 巴金森氏病病患之坐站輔助實驗 101 5.1 巴金森氏病的介紹與分級 101 5.2 機器主動之巴病病患坐站輔助實驗 102 5.2.1 第1.5期病人實驗結果與分析討論 102 5.2.2 機器主動之巴病病患病況不同坐站輔助實驗之結果比較分析 111 5.3 巴病病患主動之坐站輔助實驗 113 5.3.1 第1.5期病人實驗結果與分析討論 113 5.3.2 巴病病患主動之巴病病患病況不同坐站輔助實驗之結果比較分析 122 5.4 一般受試者與巴病病患機器主動與人主動之結果比較分析 126 5.5 醫師與復健師對巴病病患結果分析 128 第六章 結論與未來展望 133 參考文獻 134 附錄A 145 附錄B 148 附錄C 160

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