本文開發一具三自由度之前臂復健機器，分為腕部復健機器與滾轉機構，可帶動手掌做出尺偏/橈偏、腕屈曲/伸張以及旋前/旋後三個運動，用以協助患者進行復健療程。有別於現存端效器型或串聯式外甲型復健機器，本文提出以球面五連桿機構與曲柄滑塊機構所設計之腕部復健機器，外形貼近人體前臂，整體重量輕使機器具輕巧性以及可攜性。使用串聯彈性致動器取代剛性致動器，以撓性驅動方式驅動腕部復健機器，利用光學尺感測彈簧的變形量即可進行力量回授控制，使得復健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。不同於剛性致動器，使用串聯彈性致動器之復健機器可感測外界施力狀況，讓手掌可以推動機器，達到逆向驅動的功能。
為了阻抗控制模型建立，對前臂復健機器進行等效慣性分析。除利用齒輪對所設計的滾轉機構等效慣量計算，本文提出三種針對並聯式機構的腕部復健機器，不同輸入速度比例的等效質量計算假設方式。以力平衡法計算端效器輸出勁度與串聯彈性致動器虛擬輸入勁度之關係，可用於阻力模式訓練。
於端效器處設計錯位適應機構，用於解決人機錯位問題，除可讓機器適用於不同肢體尺寸的使用者，也可適應穿戴錯誤或關節不理想性所造成的錯位。錯位適應機構的設計以被動接頭作為基礎，減少致動器的使用，針對前臂復健機器獨立使用以及與肘部復健機器結合時的兩種狀況進行設計，選擇限制自由度來用於不同狀況。本研究最後對15位受試者進行實驗，得出在有錯位適應機構作用下，機器輸出力需求會較無作用下來得低的結論。

Exoskeletons robots can provide direct motion assistance and measurement for human limbs. They have been demonstrated to provide repeated and progressive rehabilitation training required for the effective recovery of patients with limb disabilities. To meet the requirement of assistance at different rehabilitation stages, active or passive exoskeleton robots of multiple degrees-of-freedom (DoFs) have been developed to assist the motion of human upper limbs or lower limbs. This thesis presents a forearm exoskeleton with three degrees-of-freedom including wrist flexion/extension (WFE), radial/ulnar deviation (RU), and pronation/supination (PS). Using geared bearing, parallel spherical mechanism,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 forearm.
Linear series elastic actuators (SEAs) for WFE and RU motion are proposed to accurately measure and control the interaction force and impedance between exoskeleton and forearm. To complete the impedance control model, the input and output mass of SEA are analyzed by conservation of momentum. The input virtural stiffness is calculated by static force analysis A misalignment -adaptive mechanism with only passive joints is introduced to compensate for the exoskeleton-limb misalignment and size variation among different subjects. The resulting 1.68-kg exoskeleton be used alone or easily in combination with other exoskeleton robots to provide various robot-aided forearm rehabilitation.

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