過去幾年，本研究室已成功發展一部上臂(肩肘)復健用機器人並且完成初步臨床測試。此上臂復健專用機器手臂可實施導引病人上肢肘關節做屈曲、伸直的動作及肩關節做平行內縮、平行外展的動作，且可依所量測病人動作狀況給予助力或阻力以幫助病人完成復健動作，同時我們也發展出分析資料的計算程序以提供量化參數做為治療成果的指標，並驗證復健機器人的可行性。
目前中風病人的復健治療，是由物理治療師以徒手或輔具施予適當的阻力或助力，以誘發其原有的自主功能，最後再依據復健醫師主觀評估病人的復健療效。在本研究中，吾人發展一套復健治療流程，利用現有的肘關節復健機器人系統配合本研究室先前所發展的的關節剛性指標和客觀的運動軌跡均方根誤差閥值來取代物理治療師的手法和評估方式，初步結果顯示利用復健機器人之治療流程對病人具有療效。
本研究另外在肘關節復健機器人上增加量測前臂旋轉扭矩之機構以及增加肌電訊號子系統，在病人追蹤圓形軌跡的運動中，透過機器人上的六軸測力計量得前臂旋轉扭矩及病人與機器人接觸點的位置與力量資料，由逆運算得到前臂旋轉的扭矩，初步可判定受測者在圓周運動中是否產生旋前或旋後的不協調出力。總之，本研究驗證了機器人在長期復健治療上的可行性，且新增的分析前臂旋轉扭矩可發展更完整的復健成效指標。

In our previous study, a parallel robot was developed for neuro-rehabilitation of the upper extremity. The robot is designed for two-dimensional motion in a planar workspace and for applications in the flexion and extension of elbow joints. A fuzzy logic controller was implemented to realize the position and force control such that the robot could apply either resistant or assistant force on the subject’s wrist when upper limb was performing circular movement on the horizontal plane. An assessment technique that measured the dynamic stiffness of the subject at the robot/wrist interface was also developed.
The goals of this thesis are two fold. The first is to employ the rehabilitation robot to perform various treatment protocols on stroke patients. The progress of neuro-rehabilitation is evaluated by the quantitative assessment technique developed in our previous work. The second is to design a subsystem for measuring rotary torque of the forearm and an EMG measuring system. The first refinement enables us to investigate the effects of rehabilitation on the tendency of forearm pronation in stroke patients, which may facilitate establishing new evaluation parameters. The second modification extends our understanding of exertion pattern of the patients during the movements.
The treatment results of five patients showed that the treatment protocol is effective. The rotational torque of forearm can be obtained by transforming the moment measured by the load cell located at the end effector of robot. The pronation/supination moment may be utilized as a new index for evaluating the motor controllability of subjects.

1. 胡名霞, 中風病患之物理治療－現代觀念及效益, 中華物療誌, 第23卷, 第3期, pp.
202-209, 1998.
2. Horak F.B., Assumptions Underlying Motor Control for Neuro-logic
rehabilitation, In Lister M.J. ed., Contemporary Management of Motor Control
Problems, Bookcrafters, Virginia, pp. 11-28, 1991.
3. Kahn L.E. , Zygman M.L., Rymer W.Z., Reinkensmeyer D.J., ”Effect of
Robot-assisted and Unassisted Exercise on Functional Reaching in Chronic
Hemiparesis”, Annual Reports of the Research Reactor Institute, vol. 2, pp. 1344-1347, 2001.
4. Lum P.S., Burgar C.G., Shor P.C., et al., “Robot-assisted Movement Training
Compared with Conventional Therapy Techniques for the Rehabilitation of
Upper-limb Motor Function After Stroke”, Arch Phys Med Rehabil, vol. 83,
pp.952-959, 2002.
5. Krebs H.I., Volpe B.T., Aisen M.L., Hening W., Adamovich S., Poizner H.,
Subrahmanyan K., Hogan N., ”Robotic Applications in Neuromotor
Rehabilitation”, Robotica, vol. 21, no. 1, pp. 3, 2003.
6. Fasoli S.E., Krebs H.I., Stein J., Frontera W.R., Hogan N., “Effects of
Robotic Therapy on Motor Impairment and Recovery in Chronic Stroke”, Arch
Phys Med Rehabil, vol. 84, pp.477-482, 2003.
7. Boissy P., Bourbonnais D., Gravel D., Arsenault A.B., Leblanc M., ”A Static
Dynamometer Measuring Simultaneous Torques Exerted at the Upper Limb”, IEEE
Trans. on Neural Systems and Rehabilitation, vol. 6, no. 3, pp. 309 -315, Sep.
1998.
8. Carson R.G., Riek S., Smethurst C.J., Franscisco Lisón Párraga J., Byblow
W.D., ”Neuromuscular-skeletal Constraints upon the Dynamics of Unimanual and
Bimanual Coordination”, Experimental Brain Research, vol. 131, no. 2, pp.
196, 2000.
9. O’Sullivan L.W.,Gallwey T.J., ”Upper-limb Surface Electro-myography at
Maximum Supination and Pronation Torques: the Effect of Elbow and Forearm
Angle”, Journal of Electromyography and Kinesiology, vol. 12, no. 4, pp.
275-285, August 2002.
10. 董憲奇，肘關節神經用復健機器人之改進與臨床研究，國立成功大學機械工程系碩士論
文，2002
11. K. A. Sawner and J. M. LaVigne, Brunnstrom’s Movement Therapy in Hemiplegia
:a Neurophysiological Approach, J. B. Lippincott, USA, 1992.
12. 陳秋旺，肘關節神經復健用機器人之研究，國立成功大學機械工程系碩士論文，2000.
13. H. Asada and K. Youcef-Toumi, “Analysis and Design of a Direct-Drive Arm
with a Five- Bar-Link Parallel Drive Mechanism,” Tran. ASME Journal of
Dynamic System, Measurement, and Control, vol. 106, pp. 255-230, Sep. 1984.
14. H. Asada and J.-J. E. Slotine, Robot Analysis and Control, A Wiley
Interscience Publication, Canada, 1986.