臺灣博碩士論文加值系統

本篇論文提供一種方法在下肢外骨骼機器人的腳底安裝load cell壓力感測器進行偵測腳底壓力的變化結合下肢標準運動分析了解對於錯誤軌跡的判斷規則，利用錯誤軌跡的判斷規則也能幫助下肢外骨骼機器人矯正錯誤的軌跡。本篇論文中也介紹了下肢標準運動分析，包含臀部、膝蓋、脛骨、腳及腳踝，不僅可以了解對於錯誤軌跡的判斷也是復健師在對病人進行復健時最需要的依據。如果能夠結合具有腿部壓力感測器的下肢外骨骼機器人，那就更能了解下肢的肌肉部分哪裡缺乏足夠的力量可以藉由下肢外骨骼機器人來使這些肌肉加強復健並且強化力量。此外，在本論文還介紹一個下肢外骨骼機器人，是由另外一個實驗室完成，因原本想裝在此下肢外骨骼機器人進行分析，不過此下肢外骨骼機器人已被拆解，所以只簡單利用壓克力來模擬腳底部來進行實驗。

This study proposes an idea about consider load cells on the bottom of foot of exoskeleton robot and combine with the motion analysis of lower extremity to have the rules which can judge whether the trajectory is correct or not. Load cells can detect the change of pressure on the bottom of foot. Such an implemented idea can help patients and physical therapists to realize the change of pressure on the bottom of foot. Load cells can be used not only to compare the bottom of patients and the bottom of normal human beings with the change of pressure but also to combine with the lower extremity exoskeleton which has pressure sensors on the legs. Load cells are the way that we can realize where the lack of enough force is by using the approach to utilize the lower extremity exoskeleton to make the muscle strong and powerful. We also propose some rules to let the lower extremity exoskeleton to help the patients rehabilitate by using the rules. When the rehabilitation is discussed, we introduce the standard of motion analysis of lower extremity, including Hip, Knee, Tibia, foot and ankle. In addition, we also introduce the lower extremity exoskeleton which is built by the other lab. In the beginning, we want to install Load cell to have analysis, but the lower extremity exoskeleton is taken apart. We just use acrylic sheet to have experiment.

中文摘要
Abstract
List of Figures
List of Tables
Chapter 1 Introduction
1.1 Research Motivation and Objective
1.2 Related work
1.3 Ideas in Our Study
1.4 Organization
Chapter 2 Basic Concepts
2.1 Problem Description
2.2 Gait Cycle Pattern
2.3 The Structure of Exoskeleton
2.3.1 Tendon-Driven Module
2.3.2 Robotic Exoskeleton Design
2.3.3 Locomotion and Control System
Chapter 3 Architecture and Design
3.1 The Arduino MEGA 2560 Board R3
3.2 Load Cell 31
3.3 AMP03 Differential Amplifier
3.4 Trajectory of Rehabilitation
Chapter 4 Experiment Results
4.1 Results
4.2 Simulation of Load cell
Chapter 5 Conclusions and Future Work
5.1 Conclusions
5.2 Future Work
References

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