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

Abstract

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.