臺灣博碩士論文加值系統

針對於行走不便之族群，其在日常生活中更是需要小心翼翼，其中能夠仰賴的工具為膝關節支架，因膝關節支架之輔助，進而減少更多的意外發生。本實驗室發展一半主動式膝部輔具系統，此系統將傳統膝關節支架結合一磁流變液阻力器作為輔助使用者行走之主要阻力源，相對於主動式膝關節支架，半主動式膝關節支架體積更小、重量更輕，更符合使用者之需求，其透過力量感測器偵測其使用者行走步態；旋轉電位計量測使用者之膝關節角度變化，利用足底壓力與膝關節角度之數據，進而估測使用者之步態，並且介入膝關節支架給予行走輔助，且提供使用者在行走時所需之輔助力，以及站立時之支撐力。先前之膝部輔具系統在穿戴測試時，其中發現透過力量感測器與旋轉電位計偵測行走步態，其伴隨之問題一一出現，包括線路繁瑣、體積龐大，在整體之穿戴方面相當困難，且容易受線路牽絆。
本研究改善此膝部輔具系統，經實驗證實，透過感測器之更換，取代先前量測使用者膝關節角度之旋轉電位計，以及行走步態之力量感測器，縮減了原先之體積過大之問題，並且確實能夠完全偵測行走步態之資訊；膝關節輔具系統支架將改良其減速機構，將去除沒有使用到齒輪部份，並經確實其不影響此支架之所需輔助行走功能；再將傳輸方式更改為無線化傳輸，縮減了其線路繁雜之問題，讓資料傳輸更為簡便，更沒有因為牽扯造線路成脫落之問題，最後將膝關節角度變化、行走步態訊息與膝關節所需扭力分析後，整合行走步態所有資訊，擬定一控制策略，經實驗證實其控制策略確實提供使用者在行走步態中站立時之支撐力，以及行走時之輔助力，並在系統偵測使用者跌倒當下，能夠立即給予一鎖固支撐力，以完成一更為合適之穿戴之膝部輔具系統。

There is a tendency fall for people with posture instability. It is important to use a knee brace for avoiding fall accident. Our lab developed the semi-active knee brace system, which combines traditional knee brace with magnetorheological fluid resistance as the primary source of resistance for users. Compare to the active knee brace, semi-active knee brace is smaller, lighter, and more adaptable. The semi-active knee use force sensor, it also use force sensors and encoder to detect the gait and knee angle. Based on the information, the knee brace will assist user in walking and provide the supporting force to user in standing and walking phase.
Because the previous knee brace with complicated wire is bulky and hard to wear, the knee brace has reduced the volume of the sensor and proved that the force sensor can be replaced through detecting the complete gait by 6-axis sensor. The encoder can be replaced through detecting the complete knee angle by 6-axis sensor. It cloud work with the smaller system, after doing experiment. In order to solve the problem of its complicated wire, the knee brace system changed the way to be wireless transmission. The experiment result shows that the knee brace system provides the user the standing and walking support, and the knee brace will be locked if the system detects the user falling down by collecting all the gait information and making a control strategy to be a better semi-active knee brace system.

摘 要 II
ABSTRACT IV
誌 謝 VI
目 錄 VII
表目錄 IX
圖目錄 X
第一章 緒論 1
1.1 前言 1
1.2 研究動機與目的 1
1.3 論文架構與綱要 2
1.4 文獻回顧 3
1.4.1 膝關節支架 3
1.4.1.1 傳統膝關節支架(conventional knee orthosis, CKO) 4
1.4.1.2 主動式膝關節支架(active knee orthosis, AKO) 5
1.4.1.3 半主動式膝關節支架(semi-active knee orthosis, SAKO) 6
1.4.2 行走步態與足底踏力 7
1.4.3 行走步態膝關節分析 9
第二章 膝關節支架結構與阻力器 11
2.1 半主動式膝關節支架結構 12
2.2單極多層式磁流變液阻力器 15
第三章 半主動式感測器量測與分析 17
3.1 膝關節角度之量測 19
3.1.1 使用旋轉電位計與膝關節角度量測 20
3.1.2 使用六軸感測器與膝關節角度量測 22
3.1.3 量測結果與分析 24
3.2 步態之量測與分析 26
3.2.1 使用力量感測器與行走步態量測 26
3.2.2 使用六軸感測器與行走步態量測 28
3.2.3 量測結果與分析 34
第四章 無線化之數據傳輸系統 37
4.1 系統無線化之必要性 37
4.2 數據無線化之設計與測試 38
4.2.1 無線化傳輸通訊之選擇 39
4.2.2 膝關節無線化傳輸 40
4.2.3 足側感測器無線化傳輸 41
4.2.4 腿部感測器無線化傳輸 41
第五章 系統整合與測試 43
5.1 控制流程 43
5.2 系統人機介面之設計 49
5.3 系統整合測試結果 49
第六章 結論與未來展望 53
6.1 結論 53
6.2 未來展望 53
參考文獻 55
符號彙編 58

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