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| 題名: | 氣動式醫療復健手臂之設計與研究
Design and Research of the Pneumatic Medical Rehabilitation Arm |
| 作者: | 陳建銘 |
| 貢獻者: | 電機工程研究所 |
| 關鍵詞: | 氣壓缸
復健
氣動式
手臂
動態模型 |
| 日期: | 2010-06
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| 上傳時間: | 2013-11-21T08:05:34Z
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| 摘要: | 本論文介紹兩款以氣壓缸動態模型為基礎之氣動式手臂(Pneumatic Robotic Arm；PRA)，氣動式手臂為一種讓上肢動作不便之患者所使用的輔助器具。由於手對於身體來說是相當重要的部位，假使手失去原有的弁遄A對於日常生活是有相當嚴重的影響。因此，設計兩款氣動式手臂，使手臂可以達到有效的復健弁遄A即為本研究之目的。
首先建立一個由雙動式單桿氣壓缸和電磁閥所組成的氣動式系統模型，其目的是為了解氣動式驅動器的設計與控制要求。利用該模型取得氣壓缸動態模型的方程式表示式，證實氣壓缸用於氣動式手臂，可以取代傳統馬達，減輕其重量。而未來將透過這些方程式表示式，以便了解氣動式手臂之能量參數，對於往後在控制器之設計上，更能清楚的了解氣動式手臂之性能，達到更加良好之系統控制的穩定性。
同時，在氣動式手臂上安裝壓力感測器來感知患者受到機構帶動時所反應的力量，以提供系統做出最適合患者之動作。目前已經由實驗證實壓力感測器用於氣動式手臂上是可行的。最後將整套系統運用在復健醫學中，透過兩款氣動式手臂引導患者動作，以達到復健之目的。
A robotic arm is developed to act as a part of physical treatment of rehabilitation to restore and maintain functional ability for injured upper extremities. By combination of relay circuit, DSP, the pneumatic cylinders and the electromagnetic valves, the pneumatic controlled robotic arm is proposed in this paper. Via a proper decision of rehabilitation profile of robotic arm, computer program can be compiled first offline. After downloading the profile into DSP, DSP can drive the robotic arm acting as the desired rehabilitation profile by the relay circuit, the pneumatic cylinders and the electromagnetic valves.
This paper first develops an exact model of a pneumatic system consisting of a double-acting single-rod pneumatic cylinder and an electromagnetic valve, with the goal of providing an insight into the design and control requirements for pneumatically actuated systems. Use the model to derive the group equations representing the dynamic behavior of the pneumatic cylinder.
In addition, the pressure sensors are used to detect the force of patients when the pneumatic robotic arm is action. These pressure sensors can provide the appropriate action for the system. Some basic experiments of rehabilitation poses are demonstrated the performance of the pneumatic robotic arm. |
| 描述: | 指導教授:蕭明椿 |
| 顯示於類別: | [電機工程系(含碩士班)] 學位論文
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