氣壓肌肉為一種高安全性之致動器，其可撓性使人體與機械之間的接觸更加安全。另外由於現今少子化的關係，使得老年人口比例逐年增高，青壯年平均負擔照顧老年人之比例也因而提高，因此期望可以將氣壓肌肉應用於義肢輔具或是復健穿戴衣物進而協助老年人或是身障人士改善其自主生活的能力。惟臺灣境內目前尚未有廠商生產氣壓肌肉致動器，若有需求皆須仰賴國外進口，如此一來不但成本相對增高，且現有國外廠商的設計不見得能完全符合穿戴輔具應用的需求。本研究之目的為研發一套低成本、高負載且耐久之氣壓肌肉，完成自製氣壓肌肉的材料挑選及以物理模型為基礎之設計分析。自製氣壓肌肉主要分成內層彈性管件、外層編織纖維網及兩端固定接頭三部分。研究中針對內層彈性管件之材質及尺寸與不同尺寸外層編織纖維網進行搭配測試，並以物理模型為基礎進行設計分析，探討不同壓力情況下氣壓肌肉本身彈性部分及總成出力的表現。物理模型中彈力相關的參數經由實驗結果利用最小平方法完成參數鑑別，並與實驗結果進行驗證。經由實驗測試，自製氣壓肌肉於5巴之操作壓力下，可承受高達170牛頓之負載。耐久測試結果則顯示自製氣壓肌肉於3巴的操作壓力下在0~100牛頓震幅及0.2赫茲的弦波負載測試下，於10,000個循環次數之後仍能維持一定的性能，收縮率最大增加量為1.59%而彈力最大下降率為16.67%。未來將以此自製氣壓肌肉所建立之物理模型為基礎發展控制法則，並應用於義肢輔具相關技術。

Pneumatic muscle is a type actuator with high safety as its pliability allows greater, proximity between the humans and the robots. In recent years, the elderly population grows rapidly whereas the birth rate reduces, resulting in an increasing dependency ratio. Therefore, the pneumatic muscles are expected to be applied to assistive technologies that enables the elders and disables to live autonomously. Unfortunately, there is no company in Taiwan producing the pneumatic muscle actuators and the imports are not only expensive but also impossible to be customized. The objective of this research is thus to develop a pneumatic muscle actuators of low cost, high power-to-volume ratio and high durability. A physics-based model is adopted for performance analysis and design of the pneumatic muscle actuators. The pneumatic muscle developed in this research includes three major parts: the inner layer elastic tube, the outer layer fiber mesh and the connectors at the two ends. The sizing and material selection of the inner and outer layers are determined based on the experimental results and the physics-based model at various pressure conditions. The parameters related to the elasticity of the pneumatic muscle in the physical model are identified based on the least square method and the overall model is validated against the force measurement at various pressures. From the test results, the developed pneumatic muscle can sustain up to 170 Nt loading under 5 bar working pressure. Durability test results show that, under the test condition of 3 bar working pressure and sinusoidal external load of 100 Nt in amplitude and 0.2 Hz in frequency, the self-made pneumatic muscle maintains its performance after 10,000 test cycles. Specifically, the contraction ratio raises less than 1.59% whereas the elastic force drops less than 16.67%. In the future, the pneumatic muscle can be applied to assistive technologies and control algorithms can be developed based on the physics-based model developed in this work.

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