基於肌電訊號控制之氣動式上肢外骨骼系統

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姓名

林宗諭(Zong-Yu Lin) 查詢紙本館藏

畢業系所

電機工程學系

論文名稱

基於肌電訊號控制之氣動式上肢外骨骼系統
(Implementation of an EMG-controlled Upper- Limb Exoskeleton Robot Driven by Pneumatic Muscle Actuators)

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至系統瀏覽論文 (2028-1-1以後開放)

摘要(中)

本研究提出以EMG訊號即時操控單軸上肢氣動式外骨骼，EMG訊號主要為肌肉收縮產生的生理訊號，將肌電訊號輸入至MATLAB/Simulink軟體中進行訊號處理，將其進行整流平均(Derive Average Rectified,ARV)運算，結合PID控制器以及EMG訊號轉換類比電壓閥值判斷法，進而讓使用者以EMG訊號驅動氣動式外骨骼，讓使用者能將EMG訊號維持在出力水平以及將外骨骼角度維持在平衡點上。本研究分別在6公斤與9公斤的負重實驗上，設定受試者出力為3kg，誤差分別為21%、8.7%，證明本系統之成效。

摘要(英)

This thesis is aimed to using Electromyography (EMG) for real-time control of a One-DOF upper-limb exoskeleton robot. The EMG signal is a physiological signal generated by muscle contraction.EMG signals were input into MATLAB/Simulink software for signal processing. We perform Derive Average Rectified (ARV) operation on it. Combining PID controller and EMG signal conversion analog voltage threshold judgment method to drive the pneumatic exoskeleton.The user can maintain the EMG signal at the output level and exoskeleton can maintain the angle at the Equilibrium point.In the 6kg and 9kg weight-bearing experiments, the subject′s effort was set to 3kg, and the errors were 21% and 8.7%, respectively, to prove the effectiveness of this system.

關鍵字(中)

★ 上肢外骨骼
★ 氣動式
★ 肌電訊號

關鍵字(英)

論文目次

中文摘要 i
Abstract ii
目錄 iii
圖目錄 v
表目錄 xi
第一章緒論 1
1-1 研究動機與目的 1
1-2 文獻探討 3
1-3 論文章節結構 5
第二章原理介紹 6
2-1 人體骨骼構造 6
2-2 EMG訊號介紹 7
2-2-2 EMG訊號量測方法與位置 8
2-2-3 腦波機硬體架構 9
2-3 外骨骼機構設計 11
2-4 氣動元件介紹 12
2-4-1 Mckibben氣動肌腱 12
2-4-2 氣動肌腱模型建模 13
2-4-3 外骨骼機器人組裝及穿戴 14
2-4-4 比例調壓閥(VPPM) 15
2-4-5 電磁閥(Solenoid valve) 16
第三章研究設計與方法 18
3-1 EMG訊號處理 18
3-2 外骨骼機器手臂氣壓系統迴路 21
3-3 外骨骼機器手臂硬體設計 22
3-4 外骨骼機器手臂系統模擬 26
3-4-1 模擬系統參數調整 33
3-5 實際外骨骼機器手臂系統 47
3-6 實驗方法 51
3-6-1 目標EMG訊號分析實驗 51
3-6-2 外骨骼機器手臂規格測試 52
3-6-3 外骨骼輔助系統實驗 53
第四章結果與討論 55
4-1 目標EMG訊號實驗結果 55
4-2 外骨骼機器手臂規格測試結果 62
4-3 外骨骼輔助系統驗證結果 68
4-3-1 外骨骼輔助誤差 75
4-4 實驗結果討論 78
第五章結論與未來展望 80
參考文獻 81

參考文獻

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指導教授

李柏磊

審核日期

2023-2-1

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