臺灣博碩士論文加值系統

本研究擬研發「運用腦波控制之行走輔具平台」，旨在分析人的腦波，並使人在意念階段即可控制行走輔具，來達到更加直觀的輔助行動體驗。近幾年社會有趨向高齡化的現象發生，造成復健行走或不良於行等問題日益明顯， 如何利用輔具平台來降低醫療支出，儼然成為非常重要的研究課題。且由於意外受傷或自然老化造成所謂的看護問題，會使得社會經濟出現停滯不前，競爭力下降與勞力失衡等問題。綜上所述，受傷復健、行走輔助是一門十分重要的課題。

欲發展一人體輔具平台以減少上述問題所造成的社會經濟負擔，本研究欲從意念控制著手，為了要達到可靠的腦波訊號量測，腦電儀必須先經過校正；故提出與真實人體皮膚性質相似的人工仿體進行腦電儀的校正工作。腦波訊號是微弱的，為了能克服雜訊的干擾，將進行動態振動測試來去除走路所造成之晃動雜訊以強化腦波訊號，並進行搜尋人體想要走路的意念特徵之演算法開發。接著為確保使用者確實想進行走路的行為以及為帶給使用者最理想的行走輔助，本研究將進行下肢生物力學的走路模型建構，分析人體走路時之運動情形。最後，結合走路意念、下肢力學模型以及馬達三種模式之自動控制，完成「運用腦波控制之行走輔具平台」。

This research attempts to develop a brain-controlled system for a walking assistive device in the hope to provide more intuitive walking assistance experience. Due to the rapid growth of aging population, efficient and effective rehabilitation or walking assistance has become highly demanded. How to use assistive device to reduce medical expenses has also become a very important research issue. Care problems caused by accidental injury or natural aging can lead to stagnation in social economy, declining competitiveness, labor imbalances and so on. As above, an effective device to facilitate injury rehabilitation and walking is to be developed.
To develop an assistive device for human beings for reducing social economy loading, we intend to start from the mind control. To implement reliable brain signal measuring, EEG device must be calibrated first. We propose a calibration phantom, whose electrical and mechanical properties are similar to those of real human skin. To overcome the low signal-to-noise ratio of the EEG, a dynamic vibration test is carried out to characterize the noise caused by human walking. We also develop an algorithm to identify the intension of human walking. Based on a lower limb biomechanics model, three modes of a motor automatic control system are used to drive the walking assistant device.

誌謝 i
中文摘要 ii
ABSTRACT iii
SYMBOL TABLE iv
CONTENTS vii
LIST OF FIGURES x
LIST OF TABLES xiv
Chapter 1 Introduction 1
1.1 Background and motivation 1
1.2 Literature review 1
1.2.1 Skin phantom calibration 1
1.2.2 Overview of walking assist device 2
Chapter 2 Design of artificial skin phantom 5
2.1 Real human skin properties 5
2.2 Selection of Phantom Material 5
Chapter 3 Phantom fabrication 7
3.1 Artificial stratum corneum with sweat pores 7
3.2 Combination of stratum corneum and epidermis 15
3.3 Fabricating artificial sweat ducts 17
Chapter 4 Phantom properties test 18
4.1 Morphology tests 18
4.2 Mechanical tests 20
4.3 Electrical tests 21
Chapter 5 Structure and control theory 24
5.1 Exoskeleton mechanism 24
5.2 Circuit and servo amplifier 26
5.2.1 Motor chosen 26
5.2.2 Servo amplifier 27
5.2.3 Controller circuit 28
5.3 Motor position control theory 31
5.4 Position and speed control theory 38
5.5 Position and current control theory 41
Chapter 6 Exoskeleton control system design 45
6.1 Gait test and command statement 45
6.2 Motor position control 46
6.3 Position and speed closed loop control 50
6.4 Position and current closed loop control 54
Chapter 7 Exoskeleton results and discussions 57
7.1 Implement control system 57
7.2 Exoskeleton position control 60
7.3 Exoskeleton position and speed control 62
7.4 Exoskeleton position and torque control 64
7.5 Step response test 69
7.6 Control strategy on wearing 71
Chapter 8 Wearing exoskeleton 73
8.1 Sorting circuit package 73
8.2 Auto walking mode 74
Chapter 9 Conclusions and future work 83
9.1 Conclusions 83
9.2 Future work 84
REFERENCE 86
APPENDIX 92
1.1 Literature review on brain computer interface 92
1.2 EEG detection 92
1.3 EEG test 92
1.4 Brain wave results and discussions 92
1.5 Brain controlled system 92
1.6 Brain controlled method 92
1.7 Status determination of EEG 92

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