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。;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.
