過去幾年，本研究室發展一部肩肘復健用機器人並且持續進行臨床測試，此復健用機器人可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與阻力以幫助病人完成復健動作，同時我們也發展出關節動剛性指標做為評估治療成果的依據，並配合此指標與軌跡均方根誤差研發出一套復健治療流程，並驗證復健機器人的可行性。
　　由於肩肘復健用機器人整體尺寸與重量過大，因此在本研究中，吾人重建一台新的復健機器人，設計出尺寸較小且將整體結構整合於工作桌上，並使用視窗介面作為操作系統。目前在定位控制方面已能夠進行圓形軌跡和直線軌跡追蹤控制，位置誤差均在允許範圍之內，在力量控制方面機器人施於受測者力量的趨勢與所要求的值接近。
　　另一方面，由文獻知中風病人肘關節運動時常會伴隨著不自主的旋前或旋後動作，本研究在第一代復健用機器人上擴充前臂旋轉扭矩測量子系統，在病人追蹤圓形軌跡的運動中，由臨床經驗得知中風患者活動的協同性和功能障礙有密切關係，透過機器人上的扭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，以離線資料分析的方式，分析前臂旋前或旋後的扭矩。結果顯示中風病患在進行圓形軌跡的運動時，前臂會有明顯的不正常旋前或旋後動作出現，而正常人則較不明顯。

　　In our previous study, a shoulder-elbow rehabilitation robot was developed for neuro-rehabilitation of the upper extremity. The robot was designed to perform a two-dimensional motion in a planar workspace. A fuzzy logic controller was employed to realize the position and force control such that the robot could apply either resistant or assistant force on the subject’s wrist when the upper limb was performing a circular movement. A treatment protocol and the quantitative assessment technique were also developed.
　　The goals of this current study are two-fold. The first is to rebuild a new rehabilitation robot. The existing rehabilitation robot for upper limbs is oversized and overweight for clinical applications. A smaller rehabilitation robot is assembled onto a worktable and the control system is transformed from DOS to Windows environment. The new robot can perform well control to track a predefined circular or straight trajectory. The position errors of tracking were within the allowable error limit.
　　The second goal, is to verify found that the synergy patterns of stroke patients is highly correlated with their impaired motor function. One of the synergy patterns is that the strokes will pronate or supinate their forearms involuntarily when they move their elbow joints. A new torque measurement system is designed and installed on the old shoulder-elbow rehabilitation robot. The pronation/supination torque and the trajectory of tracking movement are recorded during the treatment procedure, and the pronation and supination torque of forearm are analyzed offline. The experimental results revealed that the synergy patterns of stroke subject could be detected and quantified while the subjects were performing the tracking movement on the transverse plane. As a contrast, the normal subjects performed less synergy patterns.

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