髖膝外骨骼機器人輔助人體站立平衡之控制

Abstract

本論文旨在設計一髖膝外骨骼在人體受到外力碰撞時能輔助人體維持站立平衡。文中探討了髖膝外骨骼的設計及應用，主要提供還有行動能力之穿戴者平衡的輔助，研究中使用足底壓力感測器測量人體的足底壓力中心(Center of Pressure, COP)，以此為判斷是否穩定的依據，下肢各部位的感測器及編碼器則用來計算人體重心(Center of Gravity, COG)位置，藉由參考零力矩點(Zero Moment Point, ZMP)計算維持平衡之髖關節參考角度。文中設計模糊PD控制及模糊滑模控制以使人體回復到平衡位置，並針對個別的輔助效果進行討論，結果顯示髖膝外骨骼機器人能在正常人與輕度巴金森氏症病患的實驗中有效地協助其受到外力干擾後的平衡回復。

The purpose of this thesis is to design a hip-knee exoskeleton that can assist the human body in maintaining standing balance when subjected to external forces. The design and application of the hip-knee exoskeleton are discussed, with the main focus being on providing balance assistance to the wearer with mobility. In the study, a plantar pressure sensor is used to measure the center of pressure (COP) of the human body, which is used as a basis for determining stability. Sensors and encoders in the lower limbs are used to calculate the location of the center of gravity (COG) of the body, and the reference angle of the hip joint is calculated using the zero moment point (ZMP). The design of fuzzy PD control and fuzzy sliding mode control aims to restore the human body to a balanced position, and the individual assistance effects are discussed. The results show that the hip-knee exoskeleton robot can effectively assist the balance of healthy individuals and mild Parkinson's disease patients after being subjected to external disturbance.