髖-膝外骨骼機器人在步態復健之研究

Abstract

本論文「髖-膝外骨骼機器人在步態復健之研究」旨在開發可協助復健之輔助步行穿戴式機器人。文中探討用於可穿戴式下肢輔助機器人外骨格的設計、控制和其應用，其功能著重在復健和對於尚有行動能力的病患的動力輔助，如帕金森氏症患者，並模擬下肢髖、膝關節的運動，提供復健步行及動力輔助。而為達成復建軌跡追隨，本文在控制系統當中設計以線性擴展觀測器(Linear Extend State Observer, LESO)為基礎之控制法，分別為線性自抗擾控制器(Linear Active Disturbance Rejection Controller, LADRC)、具線性擴展觀測器之模糊滑模控制(Fuzzy Slide Mode Control, LESO-FSMC)與具線性擴展觀測器之快速終端滑模控制法(Fuzzy Fast Terminal Slide Mode Control, LESO-FFTSMC)，最後也進行其相關應用之探討，包含登階、循圓、步態凍結之偵測與解決。結果顯示本論文所開發的下肢輔助機器人可提供穿戴者復健輔助的效果。

The thesis “Research of Hip-Knee Exoskeleton Robot on Gait Rehabilitation” aims to develop a wearable assisted walking robot for rehabilitation. This article introduces the hardware and control system design for the exoskeleton that emphasizes rehabilitation assistance to patients, like patients with Parkinson’s disease that still have walking ability, taking evaluation after rehabilitation. In order to give a hard for subjects, we design the LESO (Linear Extend State Observer) with three different control methods, LADRC (Linear Active Disturbance Rejection Controller)、LESO-FSMC (Fuzzy Slide Mode Control) and LESO-FFTSMC(Fuzzy Fast Terminal Slide Mode Control) for the robot. Finally, we presented related applications, including step-climbing, circling walking, for detection freezing of gait and solation. The results slow that the lower-limb assisted robot developed in this paper can provide wearers with assistive effects.