臺灣博碩士論文加值系統

在高齡化的社會趨勢，與精密機電設計的潮流下，原本的輔具設計可藉助嵌入式系統與智慧型演算法來達到更完善的弁遄F對於現今的輔具使用層面而言，行動輔具無疑是相當重要的一角，然而傳統輪椅或電動車雖具運輸方便之效，卻減少使用者雙足的運動量，相對地助行器如手杖、四腳杖等卻無法靈活地隨使用者的身體移動，甚至於造成不必要的負擔，為此，本研究設計一全方位坐走兩用行動輔具，以四輪全方位系統為運動平台，搭配升降轉換機制，其中以16位元的dsPIC微控制器作為處理核心，不但達到高靈活度、低成本的設計目的，更由於具備模糊速度調適器，因此可藉由壓感握把來跟隨使用者的行動方位而調整輔具的運動速度、方向。
在探討目前行動輔具的各類研究後，針對使用者的需求，選擇實現的機構材料、感測元件，以及適當的嵌入式控制器，完成全方位坐走兩用行動輔具的機構、感測系統與模糊速度調適器之設計，期望能對未來行動輔具的發展有所助益。

We developed a robotic walking support system with an omni-directional mobile base. Its objective is to assist elderly people in their daily activities and improve their qualities of life. Although a general wheelchair can support elderly people to move, but it shortens the time of excise for elderly people. Moreover, a walking assistant such as a cane increases burden when people want to change their directions. Therefore, we design an omni-directional assistant which is with both functions of the wheelchair and walking helper and equipped with the fuzzy speed adjustment by a micro-controller dsPIC33FJ128MC710. People can operate the omni-directional assistant to change direction or velocity by hands’ holding pressure on the sensory sticks. The interface of human-machine is like human-in-loop help the assistant accommodate the fuzzy speed adjustments to the interactions between users and the assistant.

ㄧ、緒論 - 1 -
1.1研究動機 - 1 -
1.2文獻回顧 - 2 -
1.3論文架構 - 8 -
二、系統設計分析 - 9 -
2.1 使用者需求分析 - 9 -
2.2 開發架構與簡介 - 11 -
2.3 系統架構簡介 - 12 -
2.3.1 系統硬體架構 - 13 -
2.3.2 系統軟體架構與流程 - 14 -
三、硬體設計與製作 - 18 -
3.1機體設計與製作 - 18 -
3.1.1機體設計概述 - 18 -
3.1.2全方位運動系統之設計與實現 - 20 -
3.1.3模式轉換機制 - 26 -
3.2感測與驅動電路、線路 - 28 -
3.2.1 壓感握把之設計 - 28 -
3.2.2 雙軸加速度計 - 29 -
3.2.3 人機測距IR(Infra-Red) - 30 -
3.2.4 電源供應電路 - 31 -
3.2.5 馬達驅動電路 - 31 -
四、模糊速度調適器(Fuzzy Speed Adjustment)之設計與模擬 - 34 -
4.1 基本行為判斷 - 35 -
4.2模糊速度調適器之設計與模擬 - 36 -
4.3 模擬結果分析 - 36 -
五、實驗結果與討論 - 51 -
六、未來展望 - 53 -
參考文獻 - 54 -

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