本文針對一具三自由度之前臂復健機器人進行控制器之設計，此機器能夠帶動人體前臂達成腕屈曲/伸張、尺偏/橈偏及旋前/旋後的復健運動，後續將前臂復健機器人分為腕部復健機器及滾轉復健機器兩部分進行討論。前臂復健機器人是透過串聯彈性致動器達到力量感測，透過量測撓性元件的變形量以進行力量回授控制，使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。
當患者恢復到可部分自主運動時，傳統的被動式復健忽略了患者主動參與復健的能力，因此逐漸發展出按需輔助，其概念是機器會依照患者表現決定是否提供協助。儘管已有相當多的文獻於復健機器上發展出按需輔助控制器，且已被證實應用於患肢復健之成效，但對於適用於多自由度關節的按需輔助控制器之開發則較少被討論。因此本文提出一種適用於刺激人體手腕之腕屈曲/伸張和尺偏/橈偏運動的按需輔助控制器，並且針對空間多自由度的運動類型在選擇控制架構時所會面臨的問題進行討論。

為了發展空間多自由度運動的按需輔助控制器，首先基於腕部復健機器建立出於任意參考位置產生虛擬輸出全向阻抗的運算，並以此作為按需輔助控制器的基礎，再結合呆區函數使受試者可以保有自主運動的裕度，接著建立人機介面使受試者可以得知當下位置與參考命令的位置，使受試者可以進一步主動跟隨參考命令移動，最終達成按需輔助控制的目標。此外，本文開發之按需輔助控制器只需調整呆區範圍大小，即可達成完整的復健療程，而不需切換控制器架構。
本文最後討論驅動人手旋前/旋後運動的滾轉復健機器，首先針對其機構設計進行改善，解決無扭矩感測功能及受到重力影響而垂落兩項缺點，接著建立旋轉串聯彈性致動器的模型，並使用串集式阻抗控制器完成滾轉復健機器的控制。

Demand for robot-assisted therapy has increased at every stage of the neurorehabilitation recovery. To promote patients’ voluntary involvement and facilitate the rehabilitation process, assist-as-needed (AAN) paradigms are becoming more popular in addition to the traditional passive assistance approach. An AAN controller only provides assistance when the human limb is not on the desired training trajectory and needs correction. Although AAN controllers have been studied for the disabled human limb recovery, specific AAN controllers that can stimulate the voluntary spatial motion of human wrist or other multiple-degrees-of-freedom (DoF) human joints are rarely found. This thesis presents a controller that is suitable for the AAN training of the wrist when performing the spatial motion. A wrist exoskeleton robot is presented to realize the AAN controller. This wrist robot includes series elastic actuators with high torque-to-weight ratios to provide accurate impedance control required for the human-robot interaction. A novel assistance controller that can generate an omni-directional impedance at any equilibrium point is proposed to serve as the basis for the AAN controller. Experimental results show that the proposed AAN controller can effectively provide patients with assistance as needed during the cooperative rehabilitation training.

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