本研究利用外擾轉矩之估測技術，整合於復健踩車系統之主被動模式控制，並提出一具有自動化程序復健功能的下肢復健踩車系統。首先，基於完整系統識別所得之踩車系統數學模型建立閉迴路觀測器，該觀測器主要用於估測馬達及飛輪之轉動速度與測試者施加之外擾轉矩。接著，在主被動模式控制之設計上，採用根軌跡法設計被動模式所需之速度控制器，以提供穩定的訓練速度；同時，考量系統為高度人機互動之系統，本研究利用觀測器估測之外擾轉矩，提出主動模式之阻助力切換控制策略，並將此策略整合於被動模式所建構之速度控制架構中，使其具有隨外擾轉矩產生對應之阻力及定阻力的人機互動感覺回饋，藉此符合主動模式之訓練所需。再者，基於外擾轉矩與被動模式相互切換，使馬達得以提供適當的助力與阻力，實現本研究所設計之復健踩車系統。

The study is aimed at developing the control approach of a cycle ergometer for lower-limb rehabilitation. According to the characteristics, obtained by the system identification, of the cycle ergometer system incorporating the transmission belt, a practical implementation of Luenburger observer is proposed to realize velocity and torque control. The proposed observer is featured with that the motor velocity, flywheel velocity and disturbance torque of flywheel could be estimated without torque sensor or load cell, simultaneously. Consequently, the user input torque could be detected by the proposed observer. Consider the human-machine interaction of the cycle ergometer, the resistive and assisted strategy based on the estimated disturbance is integrated into the velocity and torque controller. Simulations and experimental results are presented to validate the feasibility of the proposed control system. Eventually, the rehabilitating function of passive and active modes was achieved by using the integration of disturbance- observer-based velocity and torque control.

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