子計畫三著重在腦波導引自走式看護系統之機構系統設計，利用人類腦波訊號分析彼此之間的相關性，完成自走車與機械臂在控制訊號下達的同時達到一致的同步性並且驅動馬達電路完成導引系統之工作，提供肢體障礙、行動不便之患者利用腦波控制本系統去達到想要完成之動作，如：日常生活需求等，讓使用者不再需要依賴看護人員或因此減輕看護人員的負擔。此設計的重點可分為兩大部分：(一)機械臂夾爪；(二)自走車。(一)可以逐步細分為具有力量感測功能之夾爪及與所購買之機械臂結合，其中夾爪之機構設計包含夾爪之自由度分析、夾爪關節之製作、機械手臂數學模型、活動安全角度設計、馬達減速機構設計。(二)可以分為車體架構、電源變壓控制、車體含手臂基座之設計、齒輪箱之配置等。最後希望能達到實用化、人性化且符合使用者的需求。在醫療應用層面上，可以幫助肢體障礙或是無法行動的病人利用微弱的腦電波訊號，與智慧型看護系統溝通交流、傳達訊息，達到本看護系統輔助之目的，建立病人與外界溝通的橋樑，提昇病人的生活品質。Subproject III which focuses on the design of EEG-guided self-propelled nursing system will combine the brain wave signal of the correlation to control the EEG-guided self-propelled vehicles and robot manipulator. The control signal will drive the guidance system to complete the nursing work. The disable can use his brain waves to control the system to achieve the desired action, like the daily demand and so on. Therefore it can reduce the burden on nursing. The project can be divided into two parts: (a) robot arm and the clamps; (b) self-propelled vehicle. The first part includes clamps which have function of force sensor, it combine with robot arm which we purchase. The design of clamps’ structure include clamps’ freedom of analysis, the fabrication of clamp joints, the mathematical model of robot arm. The second part includes body’s structure of self-propelled vehicle, speed differential gear box, obstacle avoidance design, power transformer control . The project, will perform the actual dynamic testing and in accordance with the test results to improve the design. The project will achieve practical, user-friendly nursing system in accordance with the use of the demand. In medical applications level, it can help patients with physical disabilities to use the weak brain wave signals to communicate with intelligent care systems to convey messages, and so on purpose, to establish a bridge between the patient and the outside world and enhance the patient's quality of life. 研究期間：10008 ~ 10107
