本文開發一具兩自由度之肘外甲復健機器模組，並針對肘部屈伸關節設計阻抗控制器，使其能夠以具高度人機親和性之方式輔助肘關節僵化患者進行復健運動。不同於現存之肘外甲機器大多採用旋轉致動器配合減速齒輪的設計，本文所提出之肘外甲機器於肘部關節採用線性致動器及轉向機構的設計，並串接於採用旋轉致動器的肩部內外旋關節，以近似於人體肌肉運動之驅動模式驅動關節進行運動。驅動馬達安裝於上臂載器且緊密並排貼近於人體，可實現較為緊湊的機構設計，減少裝置體積。本文選用扭矩密度較高之步進馬達配合滾珠螺桿機構，實現串聯彈性致動器，以撓性驅動方式驅動外甲機器，利用光學尺感測串聯彈性致動器彈簧的變形量即可進行力量回授控制，使得外甲機器不需額外安裝昂貴的力量感測器即可達成人機互動控制功能。
本文設計的肘外甲分為三個主要部分：將線性輸入轉旋轉輸出之轉向機構、具備力感測功能之串聯彈性致動器和高可靠度的內外旋機構。本文針對這三部分進行機構設計及分析，接著設計馬達驅動與感測電路及控制系統軟硬體架構，使肘外甲原型能夠結合嵌入式控制器以電腦進行控制。本文針對串聯彈性致動器及肘外甲機構系統進行建模並設計阻抗控制器，同時應用干擾觀察器於力量控制迴路，以強化力量控制表現。利用商用軟體MATLAB®中的Simulink®建立模擬模型，使本文能夠同時利用實驗及模擬方法驗證肘外甲阻抗控制性能。最後實現重量為1.5公斤的肘外甲機器模組，並可於0.5 Hz的逆向驅動操作下，輸出肘外甲扭矩值為0.033 Nm之高透明度表現。

Exoskeleton robots have been demonstrated to assist the rehabilitation of patients with upper or lower limb disabilities. To make exoskeletons more friendly and accessible to patients, they need to be lightweight and compact without major performance tradeoffs. Existing upper-limb exoskeletons focus on the assistance of upper arms while the fine-motion rehabilitation of the forearm is often ignored. This thesis presents an elbow exoskeleton module with two degrees-of-freedom including flexion/extension motion of elbow joint (EFE) and internal/external rotation (IE). Using geared bearing, and slider crank mechanism, this exoskeleton can provide the complete motion assistance for the forearm. The optimized exoskeleton dimensions allow large torque and motion output while the motors are placed parallel to the upper arm. Thus better inertia properties can be achieved while lightweight and compactness are maintained.
Linear series elastic actuator (SEA) for EFE motion with high torque-to-weight ratios is proposed to accurately measure and control the interaction force and impedance between exoskeleton and forearm. However, the variation of load-side mass influences the impedance control performance of the proposed exoskeleton with SEA. To achieve high-precision force control and dynamic transparency, the disturbance observer and feedforward controller are introduced. Experiments using a prototype were conducted to evaluate the impedance control performance of the exoskeleton. The resulting 1.5-kg exoskeleton can be used alone or easily in combination with other exoskeleton robots to provide various robot-aided upper limb rehabilitation.

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