腦中風經常造成日常生活功能性障礙，但大腦皮質具有可塑性，故大腦損傷後，腦神經細胞會產生新連結，使中風患者仍具有感覺動作功能主動恢復的潛能，但須積極配合適當的動作治療才能有效改善感覺運動功能。研究顯示，大量的患側上肢持續動作練習可增強中風患者學習的效果。而復健治療師須對患者進行一對一勞力集中過程的訓練治療且缺乏量化及客觀評估。因此本研究目的為設計發展回饋式機器手臂輔助訓練及評估系統來提供半側癱瘓中風病人之上肢動作復健訓練及評估。

本研究之機器手臂輔助系統功能為提供中風病人主動及被動不同動作軌跡之半側上肢平面動作，在被動過程中提供不同之外力干擾作為使用者的練習環境，同時記錄使用者上肢末端的位置、速度、與機器手臂末端之間的作用力，即時顯示給使用者作為視覺回饋資訊，並提供剛性及黏性之上肢生物力學特性評估。系統設計: 使用平行五連機構，兩組伺服馬達來驅動平行五連桿，兩組乾式單板電磁離合器控制扭矩大小，力感測器擷取施力大小，編碼器量測連桿轉動角度。人機操作介面、運動學及動力學方程式是以Borland C++ Builder 5.0撰寫再透過訊號傳輸介面控制訊號完成所需之功能。練習之動作軌跡設計包含橫向線、縱向線、對角線、正三角形、正方形及圓形五種軌跡動作。系統校正包括力感測器、伺服馬達及乾式單板電磁離合器，執行軌跡及軌跡速度。

目前已完成機器手臂系統雛型。力感測器使用線性迴歸方程式校正；伺服馬達具有較高度的穩定性；完成離合器電壓與扭矩關係式；實際軌跡與目標軌跡無顯著差異；直線實際軌跡速度與設定速度無顯著差異，但圓形切線速度由於背隙問題在連桿要反轉處會有速度暴衝之情形。

當平面動作控制系統完成後，進而將平面軌跡動作擴充到空間的軌跡動作。期望配合臨床醫療人員應用本機器手臂輔助訓練及評估系統與肌電量測系統對中風病人進行系統性的療程試驗與評估。

Neurological impairments resulted from strokes are always led to functional disabilities of upper extremities. Based on brain plasticity induced by training and learning, constraint-induced movement therapy has been focused on passive and active learning on the affected side for upper extremities rehabilitation. The neurorehabilitation management is labor-intensive and limited to subjective assessment. This research is aimed to design a robot-aided assessment and training system with feedback control to provide movement therapy and quantitative assessment for upper extremities on hemiplegia.
The conceptual design for the robot-aided training system is to include functions：1）providing different active 2-D movements under a constant velocity；2）providing physical environments with constant and variation forces for training practice；3）recording position, velocity, force generated by upper extremities；4) providing stiffness and damping assessment；5）providing visual feedback for hemiplegia. The system consists of a five-bar-link parallel drive manipulator, a six-axes force sensor for forces recording, two servo motors to drive the five-bar linkage, two sets of dry single-plate solenoid clutches to control torque, and two encoders to monitor the angles of linkage. The GUI controlling panel，kinematics equation and kinetics equation are programmed in Borland C++ Builder 5.0. The plane trajectories include straight lines, diagonal lines, triangles, squares, and circles for training practice. The force sensor, servo motors, clutches, and trajectory and trajectory velocity are calibrated.
The prototype of robot-aided system is completed. The results of calibration show that the servo motors are functional well, a linear regression equation between true values and measuring values for force sensors, a linear relationship between voltage and torque for the dry single-plate solenoid clutches (y=0.0158x+0.1223, where x：voltage and y：torque), the moving trajectory and trajectory velocity are functional well in the type of straight lines, but the circle trajectory is needed to tune .
This system could provide different movement modes for upper extremities on hemiplegic patients and investigate therapeutic effects of practices. The future work includes：（1） to complete the control system of 2-D movement；（2）to expand the 2-D plane movement into 3-D space movement；（3）to work together with clinical therapists to develop experimental protocols for systematically investigating the training therapies and effects of practices on post-stroke patients.

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