目前中風病人所接受的復健治療，皆由醫師或物理治療師利用徒手或輔具對病人施予各種手法以誘發原有的自主控制能力，這些手法包括引導病人做出動作，或是在病人運動過程中施加阻扭力或是助扭力，最後再以定性量測或觀察做為療效評估。本研究目的是發展一台踝關節復健用機器人，由機器人來達成物理治療師的手法，並透過機器人上的感測器精確量測相關資料，由量化數據來做為療效的評估。

機器人設計能在矢狀面上做一維運動，能應用於病患踝關節背屈與蹠屈運動。機器人透過模糊控制器來實現定位與扭力控制。在被動拉伸訓練，藉由精確定位引導病患在可動域內運動；在自主出力運動，機器人會在病患進行軌跡追蹤途中，給予阻扭力或助扭力。在運動過程中，機器人量得病人踝關節的移動位置與扭力，做離線資料分析，並用客觀量化的數據替代主觀的定性評估。

本研究已完成機器人的硬軟體系統開發，並具備有多種運動模式。在5位常人受測者實驗中，利用機器人的各種運動模式配合關節被動剛性、軌跡追蹤誤差均方根及動剛性指標，來明瞭常人的踝關節機械性質與運動控制能力。總之，本研究驗證機器人在復健上的可行性，且可成功模擬物理治療師引導踝關節的背屈與蹠屈運動或是給予阻扭力與助扭力。

The physical therapists use various facilitation patterns by hands or instruments at rehabilitation of the stroke patients. The patterns include guiding movement of patients’ ankle or applying resistance or assistance force when active movements are performed. By qualitative assessments and observations, they can assess progress of rehabilitation. The goal of this thesis is to develop a robot for ankle rehabilitation by performing various facilitation patterns. The sensors of robot can accurately measure biomechanical variables and provide objective assessments.

The robot is designed for ankle motion on the sagittal plane. It is applied to dorsiflexion and plantarflexion movement in seated subjects. A fuzzy controller is implemented to realize position and torque controls. For passive stretch, the robot can guide the subject’s ankle throughout the range of motion to extreme dorsiflexion and plantarflexion. For voluntary movement, the robot can apply resistance or assistance torque when patients performed trajectory tracking. During movement, the encoder and the torque sensor record the position of ankle and the reactive torque between robot and patient’s ankle. Off-line analyses of these biomechanical data were used to assess progress of ankle rehabilitation quantitatively.

The robot system has been built by integrating a mechanism, an actuator, a controller, system software and a man-machine interface. Two treatment movements, namely passive stretch and trajectory tracking were realized. Five normal subjects were recruited for assessing their ankle controllability by measuring the dynamic stiffness of their ankles. The experimental results show that the robot might be applicable for ankle rehabilitation of stroke patients. The robot can imitate a physical therapists to guide subject or apply adequate resistant or assistant torque on subjects when their ankles are performing trajectory tracking.

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