Along with the coming of elderly society, workforce shortage and insufficient medical resources become as a major concern. Exoskeleton robots thus become a focus of robotic researches. Based on it, we develop an upper-limb wearable exoskeleton robot for the patients with impaired nerves or motor functions. In the past, our laboratory has developed an upper-limb exoskeleton robot, named as HAMEXO-I, which is designed to assist the user for conducting rehabilitation tasks and activities in daily lives. As HAMEXO-I is not up to our expectation, in this thesis, we intend to design a better one. We thus analyze the upper-limb types of exoskeleton robots from the aspects of actuator, mechanical frame, sensors, and controllers, and come up with a new upper-limb exoskeleton robot, named as HAMEXO-N, which is much improved when compared with HAMEXO-I. Experiments are conducted to demonstrate the performance of HAMEXO-N. Evaluation based on the questionnaires on user response also validates its effectiveness. These results indicate that HAMEXO-N is with the potential for practical applications in daily lives.
1. 導論 1
1-1 研究背景 1
1-2 研究動機 10
1-3 研究目標 11
1-4 論文架構 12
2. 上肢外骨骼機器人分析與設計 13
2-1 驅動器 14
2-2 機構骨架 19
2-3 感測器 24
2-4 控制器 26
2-5 探討與歸納 27
3. 上肢外骨骼機器人HAMEXO-N 30
3-1 硬體架構 30
3-1-1 框架設計及材料 30
3-1-2 驅動器選擇 34
3-1-3 感測器 38
3-2 軟體架構 39
3-2-1 實現流程與連線架構 39
3-2-2 使用者介面 41
3-3 控制系統 42
3-3-1 意圖判斷 42
3-3-2 重力補償 44
3-3-3 PI控制器 45
4. 實驗結果與討論 46
4-1 實驗一：機器人設計檢驗與評估 47
4-2 實驗二：日常生活任務模擬 51
5. 結論與未來規劃 58
5-1 結論 58
5-2 未來工作 58
參考文獻 60
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