近年來，人口老化的問題日益嚴重，照顧銀髮族的生活起居成為一個重要的課題。隨著醫療科技的進步，各式各樣的行動輔具機器人之發展越趨成熟，本實驗室所開發的行動輔具i-go也將成為一份子以因應銀髮族生活不便的困擾。
在本論文中，我們改良先前研究提出之被動式行動輔具導引演算法，並實踐於我們所研發的i-go上面，所提出兩種導引演算法，其一是位置控制演算法，其二是位置與朝向角控制演算法，顧名思義，前者可導引使用者到指定位置，後者除了可導引使用者到位置外，還可朝向使用者希冀的方向。
i-go之導引功能經實驗驗證，確實有其一定之功效，未來希望能夠幫助無法順利走往目標正在復健的銀髮族，以及提升特別是老人癡呆症、阿茲海默症的患者安全性，這些患者因記憶力衰退或是方向迷失無法到達目標。

Recently, the problem of aging population becomes more and more serious. How to take good care of the elderly is now an important issue around the world. Along with the progress of the medical technology, several robot walking helpers have been developed. It motivates us to develop a robot walking helper, named i-go, in our laboratory for assisting the lives of the elderly. In the thesis, based on navigation techniques previously proposed, we develop two guidance algorithms for passive walking helper, and realize them in our i-go. They are:(1)the position-controlling algorithm and (2)position and orientation-controlling algorithm. The former can guide the user to the desired position, and the latter not only guide the user to the desired position, but also to the desired orientation. The proposed guidance algorithms have been verified via the experiment. In future, we expect the i-go can assist the elderly for guidance in real environments. We will introduce the i-go to the Alzheimer’s patients, so that they can rely on it for movement under the conditions of memory decline and poor sense in orientation.

中文摘要 I
英文摘要 II
致謝 III
目錄 IV
表目錄 VI
圖目錄 VII

1.導論 1
1.1引言 1
1.2研究動機 2
1.3相關研究 2
1.3.1主動式行動輔具 3
1.3.2被動式行動輔具 7
1.4研究目標 9
1.5論文架構 9
2.被動式行動輔具系統之導引 10
2.1動態模型 10
2.2位置控制演算法 13
2.3位置與朝向角控制演算法 15
3.系統實現 18
3.1 i-go硬體架構 20
3.1.1行動輔具之車體 21
3.1.2周邊控制晶片PIC18F452 24
3.1.3伺服煞車器 27
3.1.4兩軸力感應器 31
3.1.5軸編碼器 33
4.模擬與實驗分析 35
4.1模擬 35
4.1.1位置控制演算法 35
4.1.2位置與朝向角控制演算法 38
4.2實驗 40
4.2.1單點實驗 42
4.2.2 S形路線實驗 52
4.3實際場景實驗 63
5.結論與未來展望 67
5.1結論 67
5.2未來展望 67
參考文獻 69

[1] J. Manuel, H. Wandosell, and B. Graf, “Non-Holonomic Navigation System of a Walking-Aid Robot”, IEEE Workshop on Robot and Human Interactive Communication, pp. 518-523, 2002.
[2] M. Hans, B. Graf, and R. Schraft, “Robotic Home Assistant Care-o-bot: Past- present-future,” 11th IEEE Int. Workshop Robot Human Interactive Commu- nication, pp. 380–385, 2002.
[3] M. Spenko, H. Yu, and S. Dubowsky, “Robotic Personal Aids for Mobility and
Monitoring for the Elderly,” IEEE Trans. Neural Syst. Rehabil. Eng., vol. 14, no.
3, pp. 344-351, 2006.
[4] O. Chuy, Y. Hirata, and K. Kosuge, “A New Control Approach for a Robotic Walking Support System in Adapting User Characteristics,” IEEE Transactions on Systems, Man, and Cybernetics Part C: Applications and Reviews, vol. 36, no. 6, pp. 725-733, 2006.
[5] Y. Hirata, A. Hara, and K. Kosuge, “Motion Control of Passive Intelligent Walker Using Servo Brakes,” IEEE Transactions on Robotics, vol. 23, no. 5, pp.
981-990, 2007.
[6] S. Dubowsky, F. Genot, S. Godding, H. Kozono, A. Skwersky, H. Yu, and L. S.
Yu, “PAMM - A Robotic Aid to the Elderly for Mobility Assistance and Monitoring: A “Helping-Hand” for the Elderly,” IEEE International Conference on Robotics and Automation, pp. 570-576, 2000.
[7] A. M. Sabatini, V. Genovese, and E. Pacchierotti, “A Mobility Aid for the Sup-
port to Walking and Object Transportation of People with Motor Impairments,” IEEE/RSJ International Conference on Intelligent Robots and System, pp. 1349-1354, 2002.
[8] A. Morris, R. Donamukkala, A. Kapuria, A. Steinfeld, J. T. Matthews, J. Dunbar-Jacob, and S. Thrun, “A Robotic Walker That Provides Guidance,” IEEE International Conference on Robotics and Automation, pp. 25-30, 2003.
[9] D. Rodriguez-Losada, F. Matia, A. Jimenez, R. Galan, and G. Lacey, “Implementing map based navigation in guido, the robotic smartwalker,” IEEE International Conference on Robotics and Automation, 2005.
[10] T. Hirotomi, Y. Hosomi, and H. Yano, Brake Control Assist on a Four-Castered Walker for Old People, Springer-Verlag, Berlin, 2008.
[11] J. Ryu, K. Pathak, and S.K. Agrawal, “Control of A Passive Mobility Assistive Robot,” ASME IMECE 2006.

[12] C.H. Ko, S.K. Agrawal, “Walk-Assist Robot: A novel approach to gain selection of a braking controller using differential flatness,” American Control Conference, pp.2799-2804, 2010.
[13] Lord Corporation, http://www.lord.com/ [Accessed: May. 9, 2010].
[14] Microchip Corporation, http://www.microchip.com/ [Accessed: May. 9, 2010].
[15] 曾百由 著，微處理器原理與應用─組合語言與PIC18 微控制器，五南圖 書，民國九十五年十月。
[16] 游勝雄，基於環境感測之行動輔具設計，國立交通大學電機與控制工程所 碩士論文，2009。
[17] 楊翔斌，基於使用者意圖之行動輔具設計，國立交通大學電機與控制工程 所碩士論文，2010。