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研究生:蕭學隆
研究生(外文):Shiau, Shyue-Long
論文名稱:復建用機器人研究
論文名稱(外文):Study of Rehabilitation Robots
指導教授:朱銘祥朱銘祥引用關係
指導教授(外文):Ming-Shyang Ju
學位類別:碩士
校院名稱:國立成功大學
系所名稱:機械工程學系
學門:工程學門
學類:電資工程學類
論文種類:學術論文
論文出版年:1998
畢業學年度:86
語文別:中文
論文頁數:52
中文關鍵詞:本體神經肌肉誘發術復建
外文關鍵詞:PNFRehabilitation
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本研究旨在設計並製造一台三軸復建機器人,在其端點位置加上六軸力
量感測器及手爪,以實施簡化PNF來訓練中風病人回復運動控制能力.設計
機器人之前必須知道所需要的機器人工作空間大小,因此簡化PNF並規劃病
人路徑軌跡,以牛頓--拉夫森法解逆向運動學問題,利用Matlab軟體進行模
擬以決定三軸軸承及軸桿的尺寸.在符合設計條件下,如扭力輸出,重量及
尺寸大小等,同時配合伺服馬達及減速機規格而設計出機器人結構尺寸,並
進行實驗. 利用電腦程式軟體 Turbo C 撰寫機器人控制程式進行機器
人測試實驗.首先進行馬達基本特性實驗以求出馬達基本特性參數,如時間
常數,最大角加速度及延遲時間等等,進而規劃機器人路徑軌跡並進行測
試,在軟體及硬體限制下,找出較好的控制點數,時間間隔及控制方法.而後
依據PNF技巧規劃各種路徑軌跡並進行測試,其中包括拉伸,屈曲及反覆拉
伸運動軌跡. 目前已自行製作初一台三軸機器人,馬達驅動器的控制方法
為速度控制時,機器人端點位置的精確性及反覆性均良好.未來將在機器人
端點加上力量感測器,進行扭力控制實驗,進而進行病人主動控制實驗.

The goal of this thesis is to design and manufacture a three-
joint rehabilitation robot.A six-axis force sensor and a gripper
are installed at the robot's end-point. The robot isutilized to
realize proprioceptive neuromuscular facilitation ( PNF ).
Treating by PNF, a stroke patient can be trained and restore
his/her motor control capability. Before designedthe robot, we
need to know the robot's workspace. First, the movement pattern
in PNF is simplified and path locus of patient's elbow joint is
calculated by solving the inversekinematics problem. The Newton-
Raphson method is employed and implemented on MATLAB programs.
Dimension of each link is determined from the kinematics
simulations. Considering designconstraints such as rated output
troque of each servomotor, weights of links and servomotors,
reducing ratios of gear reducers the dimension of the robot is
designed. A prototyperehabilitation robot is fabricated.
Control programs for the prototype robot are implemented using C
language. Several tests are performed: first, velocity control
of each servomotor is performed and motor parameters such as
time constant, time delay and maximum angular acceleration are
estimated. Tests for the tracking control of robot are designed.
From these tests, the optimal sampling interval and control law
are determined by taking into account the constraints from
hardware and software. Several trajectories are obtained based
on PNF and tracking control experiments are performed which
include single extension, single flexion and repeated extension/
flexion. In this work a three-axis rehabilitation robot is
built. By using velocity feedback control both accuracy and
repeatability of end-point position are superior to those of
open-loop control. In the next phase, by installing a torque
sensor on the interface between end effector of robot and wrist
of subject, the way that a physical therapist guides the patient
can be measured and PNF may be realized by the prototype
rehabilitation robot.

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