以生理訊號控制遠端足型機器人

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姓名

陳俊漢(Chun-Han Chen) 查詢紙本館藏

畢業系所

電機工程學系

論文名稱

以生理訊號控制遠端足型機器人
(Remote Control of Hexapod Robot via Physiological Signal)

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摘要(中)

本篇論文提出以生理訊號作為控制遠端足型機器人的設計，配合遠端臨場(Telepresence)的概念，藉由網際網路(Internet)為媒介操控遠端設備，機器人完全以使用者的生理訊號，成為一以生理訊號控制之網路代理機器人(Telepresence Agent)，機器人的控制由主動式電極感測使用者即時的臉部EMG訊號(fEMG)，經過小波演算法(WT)及數位訊號處理(DSP)以成為控制命令，提供給身心障礙者藉由控制遠端機器人達到身歷其境的體驗與外界的溝通，可以成為操控者的分身。
在實驗成果上，改良了高效率而簡單的順從型足型機器人本體，以主從式架構(Client-Server Module)實現遠端監控的能力，達到實用性與便利性。本文中所提出利用連續小波轉換(CWT)估測臉部肌電訊號的活動閥值，成功的辨識真實的EMG訊號，並且達到控制機器人基本的步態及克服崎嶇路面的移動能力，驗證了臉部肌電訊號作為控制命令的可行性，對於行動不便的患者，透過此系統可以增加生活自主的能力。對於整體系統，機器人的操控性、fEMG識別率、Internet資料傳輸以及影音的傳輸部分，也都有不錯的性能展現。
未來的研究方向，以增加機器人的功能與實用性，使目前的代理機器人系統，進化為智慧型代理者(Intelligent Agent)。針對fEMG系統，簡化系統以減低成本。並利用無線化、置入式及微型化的電極量測fEMG，同時改進控制介面，對於臨床應用實驗及介面設計，對於其優點評估各種不同應用的可行性。

摘要(英)

The aim of this thesis is to propose a remote control of hexapod robot via physiological signal. The robot agent follows the command of remote control to perform a different movement. We adopt the facial EMG, which is picked by active electrodes, as a control signal. Furthermore, and the hexapod robot is equipped with some sensors, such as camera, microphone, motor encoder and compass. The client user can receive the feedback information acquired by the sensor. The user can control the robot with virtual reality. And this interface can help the disability to improve an interpersonal communication.
According to the experimental results, the hexapod robot provides an efficient and simplified architecture (Client-Server Module) of mobile robots. In this thesis, the continuous wavelet transform (CWT) is applied to estimate the activity threshold of facial EMG. The dynamic threshold plays an important role in detecting the activity of fEMG. The EMG signal can command the hexapod to accomplish basic gaits and overcome the rough area. This system demonstrates the feasibility of a facial EMG control system. The disabilities can increase the ability of independent life by the proposed system. This hexapod robot could perform well in the operation of movement and detecting the activity of fEMG.
In the future, we will devote ourself in enriching the functions and increasing the practicability. This could promote the proposed agent robot system to become an intelligent agent. We also plan to adopt the wireless and tiny electrodes in measuring the fEMG. The control panel needs to be more simplified. Finally, we hope to design the clinical experiment to evaluate the performance of an intelligent agent in practive.

關鍵字(中)

★ 足型機器人
★ 遠端臨場
★ 代理者
★ 臉部肌電圖
★ 連續小波演算法

關鍵字(英)

★ agent
★ continuous wavelet transform
★ facial EMG
★ telepresence
★ hexapod robot

論文目次

中文摘要
英文摘要
目錄 Ⅰ
圖目錄 Ⅳ
表目錄 Ⅷ
第一章緒論 1
1.1 研究背景與動機 1
1.2 研究目的 2
1.3 文獻回顧 3
1.4 論文架構 4
第二章系統描述 5
2.1 前言 5
2.2 代理者 6
2.3 系統架構 8
第三章控制訊號識別與原理 12
3.1 fEMG的量測設備 12
3.1.1 表面電極 12
3.1.2 置入電極 13
3.2 fEMG的量測雜訊 14
3.3 小波演算法 15
3.3.1 簡介小波轉換 15
3.3.2 定義母小波函數 17
3.4 生理訊號分析 19
3.4.1 信號擷取方式 19
3.4.2 訊號分析處理 20
3.6 肌電訊號特徵值識別 22
3.6.1 量測位置的選定 22
3.6.2 控制命令樣本 25
第四章足型機器人的設計及控制方法 27
4.1 順從式足型機器人介紹 27
4.2 機器人系統設計 28
4.2.1 架構規劃 28
4.2.2 硬體結構 30
4.3 遠端監控技術 32
4.4 機器人移動控制 34
4.4.1 對稱式三角步伐 34
4.4.2 運動步態規劃 35
第五章軟、硬體介面實現 39
5.1 Labview介紹 39
5.2 fEMG擷取電路 40
5.3 主動式電極 41
5.4 微處理器介紹 42
5.5 致動器 44
5.6 編碼器 45
5.7 計數器電路 47
5.8 繼電器電路 48
5.9 數位羅盤模組 49
5.10 對講機模組 51
5.11 串列通訊傳輸 53
5.12 網際網路傳輸 57
5.13 微處理器程式流程設計 58
5.14 影像擷取系統 64
5.15 人機介面程式設計 67
第六章實驗結果與討論 72
6.1 遠端監控機器人的移動實驗 72
6.1.1 監控機器人的前進 72
6.1.2 監控機器人的後退 73
6.1.3 監控機器人的左轉 75
6.1.4 監控機器人的右轉 76
6.2 機器人步態控制實驗 77
6.2.1 前進運動 78
6.2.2 後退運動 80
6.2.3 左轉運動 82
6.2.4 右轉運動 85
6.2.5 穿越障礙區運動 87
6.2.6 跨越單層階梯區運動 90
6.2.7 跨越雙層階梯區運動 92
6.2.8 爬行斜坡區運動 94
6.2.9 穿越草皮區運動 96
6.2.10 跨越健康步道區運動 98
6.3 分析與討論 100
第七章結論與建議 102
7.1 結論 102
7.2 建議 103
7.3 未來發展 104
參考文獻 106
附錄 112
List of Publication 119
實作競賽 121

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指導教授

鍾鴻源(Hung-Yuan Chung)

審核日期

2005-6-7

推文