腦血管疾病是國人的一大威脅，雖現今已有一定的醫療水準，仍有以肢體運動功能障礙為主的後遺症，而此類後遺症所造成的生活不方便，可以透過外骨骼復健得到相當程度的改善。 目前國內之外骨骼大多採用無動力外骨骼或電機外骨骼，鮮少使用液壓作為外骨骼動力來源，而液壓系統可以較小的體積輸出較大的功率，也不存在減速齒輪磨耗的問題，因此是一項新穎的外骨骼驅動系統。 本研究建立一套外骨骼輔具機構，採用液壓作為致動系統，期望達到大的輸出力度。在設計方面，透過SolidWorks 建構出外骨骼模型，外骨骼的長度以人體骨骼做為參考，並以Ansys Workbench對外骨骼進行靜態負載下的應力、應變及變形量分析，並且達到收斂性分析15%內，也模擬外骨骼在病患負載下的分析，確保外骨骼在上述情況下不會產生塑性變形。 在外骨骼驅動方面，本研究使用TMS320F28335數位訊號處理器作為控制器，控制外骨骼的運作。 ;Cerebrovascular diseases pose a significant threat to the population of the country. Although there has been considerable progress in medical standards, residual effects, primarily manifested as impaired limb mobility, continue to persist. These post-effects lead to inconvenience in daily life, which can be significantly improved through exoskeleton rehabilitation. Currently, most domestically developed exoskeletons utilize either non-powered exoskeletons or motorized exoskeletons. Hydraulic systems, however, are rarely employed as an exoskeleton power source. Hydraulic systems offer the advantage of producing larger power output with a smaller volume, while also avoiding issues related to gear wear. Consequently, hydraulic systems present a novel approach to exoskeleton propulsion. This study aims to establish an exoskeleton assistive mechanism utilizing hydraulic power for actuation, with the goal of achieving substantial output force. In the design phase, the exoskeleton model is created using SolidWorks, with the length of the exoskeleton derived from human skeletal dimensions. Ansys Workbench is employed to conduct stress, strain, and deformation analyses on the exoskeleton under static loads. The analysis is performed until achieving convergence within 15% and is extended to simulate exoskeleton behavior under patient loads, ensuring that the exoskeleton does not undergo plastic deformation under the aforementioned conditions. Regarding exoskeleton propulsion, this research employs the TMS320F28335 digital signal processor as the controller to regulate the operation of the exoskeleton.
