一般中風病患的下肢復健可以概括分為兩大類型，第一種為讓患者主動完成復健動作而復健師從旁協助的主動式復健，例如腳踏車訓練或步態訓練，為具有回復功能的復健運動。第二種為由復健師帶領患者進行特定動作的被動式復健，目的在於活動關節避免關節硬化。本研究的目的便是發展一套整合上述兩種復健方式用於恢復患者髖膝關節功能的復健機器人系統。

　　本研究發展的復健機器人系統設計讓病人以平躺方式進行下肢主動式復健，對病人而言不僅較安全還能令病情較嚴重而無法站立的病人及早接受主動式復健訓練。機器人本體機構能協助患者完成髖膝關節拉伸(extension)或屈曲(flexion)的運動。在被動式復健方面，機器人透過模糊位置控制引導受測者下肢末端以事先規劃好的軌跡運動。在主動式復健方面，機器人透過模糊位置力量混合控制，從旁協助受測者自主完成軌跡追蹤療程並於療程期間給予阻力或助力。

　　本研究目前已完成機器人的軟硬體架構雛形，並且利用機器人的各種訓練模式搭配軌跡追蹤誤差和動剛性量化指標來評估受測者的下肢運動控制能力。透過常人測試實驗證明了本研究所設計的機器人系統用於髋膝關節復健的可行性和穩定性。

　　There are two kinds of treatments for rehabilitation of lower limbs of stroke patients namely, active movement and passive treatment. In the active treatment, the patients have to voluntarily finish the movements under the assistance of physical therapists, e.g. the bicycle training or the gait training. In the passive treatment, the paralyzed limbs were passively manipulated by the physical therapists to prevent the contracture of joints. The goal of this study is to design a robot system which could provide both active and passive manipulation of stroke patients’ knees and hips.

　　The robot system can assist active lower limb rehabilitation for patient in supine position. This position is most comfortable posture for patients. The robot is designed for two dimensional motion on the sagittal plane. It can help the patient to perform the flexion and extension of hip and knee. A Fuzzy controller is implemented to realize position control and position/force hybrid control. For passive rehabilitation, the robot guides the patients’ lower extremity to exercise along a predefined trajectory. For active rehabilitation, the robot applied a resistant or assistant force when patients perform a trajectory tracking.

　　In this study, a robot system for knee and hip rehabilitation has been developed by integrating a mechanism, actuator, controller, system software and man-machine interface. The tracking error and the dynamic stiffness are indices to quantify the lower limb motor controllability of the subjects, Testing of the robot system on able-bodied subjects revealed that the system may be feasible and safe for the rehabilitation of knee and hip of stroke patients.

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