指導教授：傅立成臺灣大學：電機工程學研究所王威文Wang, Wei-WenWei-WenWang2014-11-282018-07-062014-11-282018-07-062014http://ntur.lib.ntu.edu.tw//handle/246246/262891因神經或骨科疾病而造成上肢功能障礙在臨床上相當常見，在外科及骨科的意外傷害中約佔40%，這些患者需要早期發現並定期進行復健以恢復原有的機能並防止併發症的產生，如關節攣縮及肌肉萎縮。為了節省訓練的時間及醫院與診所用於復健治療的相關費用，我們發展一套新的系統，此系統結合慣性感測系統與外骨骼式機器人進行雙側上肢訓練。透過整合慣性測量系統與外骨骼式機器人，可以在執行大範圍運動之過程中進行量測與控制，同時提高了系統的安全性及更為人性化的操作。對於運動軌跡的生成與設計，本系統採用的雙側療法包含教導式的主從控制及自我訓練控制。採用上述訓練方式將更容易進行症狀的檢測，也能增進主動運動訓練的功效。相較傳統設計特定軌跡的方式，使用上述兩種方法可以創建更複雜的運動軌跡。而當機器人在進行輔助練習時，方位測量的準確性及安全性也是很重要的議題，為了達到此目的，本系統特別開發一種點對點的PID控制器藉由運用兩種不同類型的位置測量元件進行相互監控，以使本系統更為強健並防止系統於運行過程中因單點故障等因素而造成危害。Patients with disabilities of the upper limbs caused by neurologic and orthopedic disorder require timely rehabilitation to regain motor function and prevent complications such as contracture and disuse atrophy. To reduce the costs associated with rehabilitation, this study developed a novel system involving an upper-limb exoskeleton robot with an inertia motion unit (IMU) measurement system based on the principles governing bilateral arm therapy and assistive robotics. The integration of IMU measurement with an exoskeleton robot enables measurement and control over a larger range of motion (ROM) and improves the safety and user-friendliness of the system. For trajectory design, we applied the principles of bilateral therapy, which include leader-follower control and self-motion control. This approach to training enables the early detection of symptoms and enhances ROM. The integration of these two methods enables the generation of trajectories that are more complex than conventional approaches, which are limited to specific types of trajectory. To ensure the accuracy and safety of orientation measurement in robot-assisted exercises, we developed a point-to-point control system comprising two position measurement components in conjunction with a PID controller. The units monitor one another to make the system more robust and to prevent harm due to single point of failure.致謝....................................................i 摘要...................................................ii Abstract..............................................iii Table of Content........................................v Table of Acronyms.....................................vii List of Figures......................................viii List of Tables.........................................xi Chapter 1 Introduction..................................1 1.1 Motivation.........................................1 1.2 Literature Survey..................................2 1.2.1 Bilateral Arm Training for Stroke Patients......3 1.2.2 Robotic Devices for Bilateral Arm Training......5 1.2.3 Motion Capture System...........................9 1.3 Contribution......................................10 1.4 Thesis Organization...............................12 Chapter 2 Preliminary..................................14 2.1 Rotation Kinematics...............................14 2.1.1 Rotation about Global Cartesian Axes...........14 2.1.2 Global Roll-Pitch-Yaw Angles...................15 2.2 Field Programmable Gate Array (FPGA)..............16 2.3 The ROM of Human Upper Limb.......................18 2.4 Therapeutic Exercises.............................20 2.4.1 Passive Range of Motion........................20 2.4.2 Active Range of Motion.........................21 2.5 Fundamentals of IMU...............................22 2.5.1 Accelerometer─SMB380..........................22 2.5.2 Magnetometer─HMC5843..........................23 Chapter 3 System Design................................25 3.1 Inertial Measurement Unit (IMU)...................26 3.1.1 IMU Measurement Hardware.......................26 3.1.2 Human Arm Posture..............................27 3.1.3 Position of Human Body Joint Calculation.......33 3.2 Design of Exoskeleton Robot.......................34 3.2.1 Robot Kinematic Model..........................34 3.2.2 Joint Mapping from Robot to Human Arm..........38 3.2.3 Inverse Kinematics of Rehabilitation Robot Arm.43 3.3 Computer System...................................45 Chapter 4 Design of Control System.....................48 4.1 PID Controller and Stop Criterion.................49 4.1.1 Robot Homing Precision.........................51 4.1.2 Start and Stop Criteria........................52 4.2 Bilateral Arm Therapy.............................53 4.3 Safety Issues.....................................55 4.3.1 Dual Position Sensor System....................56 4.3.2 Handheld Switch for Motion Interruption........56 4.3.3 Emergency Button...............................57 4.4 Evaluation Tool of Electromyography (EMG).........57 Chapter 5 Experimental Results and Validation..........60 5.1 Signal Smoothing..................................60 5.2 Inclination and Rotation Interface................63 5.3 Positioning Performance of the Robot..............64 5.4 Game Exercise with Flag-Raising...................66 5.5 Validation........................................67 Chapter 6 Conclusions and Upcoming Research............74 6.1 Conclusions.......................................74 6.2 Upcoming Research.................................76 References.............................................81 Appendix A.............................................86 Appendix B.............................................9212466005 bytesapplication/pdf論文公開時間：2017/03/09論文使用權限：同意有償授權(權利金給回饋本人)慣性測量系統外骨骼式機器人雙側手臂訓練主從控制自我訓練控制thesishttp://ntur.lib.ntu.edu.tw/bitstream/246246/262891/1/ntu-103-D94921007-1.pdf