傅立成臺灣大學:電機工程學研究所周晏榆Chou, Yen-YuYen-YuChou2010-07-012018-07-062010-07-012018-07-062009U0001-1108200920013400http://ntur.lib.ntu.edu.tw//handle/246246/188088本論文的主要目標是提出一種新的設計平台來幫助病患做復健使他們能漸漸恢復且執行各種生活不可或缺的動作。此機器人平台提供了九個自由度,針對不同部位可分為: 利用六個自由度來控制肩部關節動作,一個自由度來控制肘關節動作,兩個自由度來控制手腕關節運動。其中針對各種病患手長度的不同,有可調機構可供調整。透過這樣的設計,具有高自由度的平台可設計出更多元的復建動作。然而,對於冗餘自由度的平台要設計出想要的動作是很困難的,因此在本論文,我們透過映射人體手臂的運動學模型到機械手臂,如此可找出符合人體關節限制的解,進而避免了規劃錯誤與危險的動作。在做復健的時候, 平台本身利用順滑模式控制器來達成想要的復健動作的軌跡追蹤,並且為了更人性化地方便使用者或物理治療師的使用,在軟體上加入平台的3D模擬器,利用滑鼠點選拖曳來設定想要達到的關節位置,將一連串的設定動作儲存起來以達成動作的排程規劃。The goal of this study is to design a robot system for assisting the rehabilitation of patients so that they can eventually perform various activities of daily living. The robot system which parallels our human upper limb possesses 9 degrees of freedom (DOFs) in total: six at the shoulder joint, one at the elbow joint, and two at the wrist joint. Besides, there are two adjustable segments to fit different arm lengths of different patients. Through the study, it can be seen that the hereby obtained redundant manipulator with high DOFs has a most salient advantage, which is able to provide training to patients closer to the natural human motions. However, it is difficult to determine the desirable posture of a redundant manipulator in such system first of all, and it is more challenging to determine how to attain that particular posture next. In this thesis, we resolve the above problems by mapping the kinematics of a human arm to that of the manipulator so that it can avoid going through the ill-posed configurations while searching for the desired solutions, and then reach the desired rehabilitation motion as precisely as possible. The position control involves position and velocity feedback of the end-effectors, which is implemented with the sliding mode controller to perform the trajectory tracking. In order to schedule the rehabilitation motion easily, it has a 3D simulator for user. The experiment results show that the robot can successfully guide the upper limb of the patient subject in desired movements under predefined motion setting.誌謝 I要 IIBSTRACT IIIable of Contents Vist of Figures VIIIist of Tables XIIhapter 1 Introduction 1.1 Motivation 1.2 Background 3.3 Contributions 7.4 Organization 7hapter 2 System Description 9.1 The Mechanical Description of the Rehabilitation Robot 9.1.1 Mechanical Design 9.1.2 Range of Motion (ROM) of the Robot 13.2 Hardware Demand for the Rehabilitation Robot 14.2.1 Sensor Componets 16.2.2 System Architecture 17.3 Safety Issues 18.4 Human-machine Interface 21hapter 3 Kinematic Model for Robot Arm and Human Arm 24.1 Kinematic Model of Robot Manipulators 24.2 Human Arm Model 28.3 Inverse Kinematics Analysis of Robot Arm System 32.3.1 Given Human Arm Configuration 33.3.2 The Relationship between Human Arm and Robot Arm 34.3.3 Solution of inverse kinematics: , 40.3.4 Solution of inverse kinematics: 50.3.5 Solution of inverse kinematics: 51.3.6 Solution of inverse kinematics: 52hapter 4 Motion Control of Robot Manipulator 55.1 Joint Velocities - the Manipulator Jacobian 55.2 Dynamic Model of Robot Manipulator 61.3 Motion Control of Robot Manipulator 69.3.1 Computed-torque Motion Control 69.3.2 Sliding mode Control 71hapter 5 Simulations and Experimental Results 73.1 Therapeutic Process via the Robot System 73.1.1 Motion patterns for the rehabilitation therapy 74.1.2 Training for the Passive Mode 75.2 Simulation Description 76.2.1 Workspace Analysis for the Robot Arm 77.3 Experimental Setup 84.3.1 Experimental Description 85.3.2 Experimental Results 85.3.3 Tracking Shoulder Flexion-Extension Motion 86.3.4 Tracking Shoulder Lateral-Medial Motion 91hapter 6 Conclusions and Future Work 96eferences 97ppendix A 103ppendix B 111.1 Inertia Coefficients-Symmetric 112.2 The Centrifugal matrix 116.3 Potential energy 125.4 Gravity terms 1252767532 bytesapplication/pdfen-US復健機器人復健人體手臂上肢治療與訓練Rehabilitation robotRehabilitationHuman armUpper limbPhysiotherapy and Trainingthesishttp://ntur.lib.ntu.edu.tw/bitstream/246246/188088/1/ntu-98-R95921014-1.pdf