隨著老年人口比例提高，復健治療的需求增加，因此醫療人力的短缺成為值得關注的重視議題。而對於重複性高且時間長的復健訓練來說，外骨骼是可能的解決方案，主要原因是其能大幅節省復健治療師的時間，幫助解決醫療人力短缺的問題。本論文以上肢外骨骼為研究對象，設計了按需輔助策略的復健控制器，且對其被動性提出證明，讓患者能在確保外骨骼控制安全性的前提下，透過復健訓練慢慢恢復肌肉力量。本論文將動態運動原語結合速度場，提出新穎的復健軌跡命令規劃方法，兼具動態運動原語的靈活性與速度場及時間解耦的特性，讓復健軌跡命令規劃能實現按需輔助策略。為了確保系統的被動性，本論文所實現之扭矩控制器採用了能量槽設計，其中被動性理論確保系統中的能量會越來越少，讓系統有一定程度的安全性。能量槽則是透過管制能量流動，且根據剩餘能量限制控制行為，確保系統的被動性。最後，透過模擬與實驗，驗證整體控制架構的可行性，且以消融實驗展示控制架構中各部分的必要性。

With the increasing proportion of elderly individuals, the demand for rehabilitation therapy is rising, while the shortage of medical personnel has become a critical issue. For repetitive and time-consuming rehabilitation training, exoskeletons offer a promising solution. They can significantly reduce the workload of therapists and help address the problem of limited medical resources. This study focuses on an upper-limb exoskeleton and proposes a rehabilitation controller based on an assist-as-needed strategy. The passivity of the controller is proven to ensure safety during operation. With this approach, patients can gradually recover muscle strength through rehabilitation training while maintaining a safe interaction with the exoskeleton. A novel method for rehabilitation trajectory planning is proposed, which combines Dynamic Movement Primitives (DMPs) with a velocity field. This method maintains the flexibility of DMPs while decoupling speed and time, enabling the implementation of the assist-as-needed strategy in trajectory generation. To guarantee system passivity, the torque controller adopts an energy tank design. According to passivity theory, the total energy in the system should decrease over time, ensuring a certain level of safety. The energy tank manages energy flow and limits control actions based on the remaining energy, thereby preserving system passivity. Finally, both simulations and experiments are conducted to validate the effectiveness of the proposed control framework. An ablation study is also performed to demonstrate the necessity of each component within the control system.

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