本論文提出個人化移動載具及機器手臂操作系統，此一系統包含一台個人化移動載具與Universal type robot的六自由度機械手臂，並搭配下巴控制器來進行
個人化移動載具及機器手臂操作控制，來提供高位頸椎損傷病患完成一些特定的日常生活動作。當受測者使用本論文所開發之下巴控制器時，需先選擇使用模式，才能進行個人化移動載具及機器手臂的操控，本文中下巴控制器將與日常生活動作配合，讓使用者可以透過兩種行為模式進行操作並完成日常生活中所需動作。
下巴控制器將分為個人化移動載具與機械手臂兩種控制模式，當使用者藉由 下巴控制器之按鈕來確定模式後，使用搖桿來進行當下模式的操作。模式一為個人化移動載具操作控制，透過下巴控制器上之搖桿來操作個人化移動載具平台的移動，讓使用者能夠自主移動至想到達的地方。模式二為六軸機械手臂之寸動模式，使用下巴控制器上之搖桿來操作機械手臂的X、Y、Z軸向的移動，來達到機械手臂預到達位置。
為了達到上述之功能，本論文將進行手動輪椅改造成個人化移動載具，並在個人化移動載具上搭載六自由度之Universal結構機械手臂，並在末端軸搭配了平行四連桿機構夾爪，讓機械手臂能夠夾取物品，最後，本論文將使用機械手臂之寸動模式來進行桌面上之水杯的夾取，並將夾取到的水杯透過軌跡點規劃送至使用者嘴巴附近讓使用者能順利喝到水，藉此驗證本系統之可行性。

This thesis proposed a mechatronics system, which contained a personal mobility and a universal type robot arm with six degrees of freedom for whom suffered from high spinal cord injury. Considering users only had ability to move their neck, a “chin controller” was implemented as the user interface to deliever commands. In this thesis, there were two built-in openation modes in the chin controller system to provide the activities in our daily life.
The chin controller consisted of the “personal mobility” mode and the “robot arm jog control” mode. The operation mode was changed with a button; the joystick is to implement the motion. The first mode was for the operation of personal mobility function, through the joystick on the chin controller to control the movement of the personal mobile platform, allowing the user to move to the desired place. The second mode was for the controlling of the six-axis robot arm, using the joystick on the chin controller to implement the X, Y, Z axial jog movement of the robot arm.
To verify the proposed chin controller this work, rebuilt a wheelchair to perform personal mobility which was equipped robotic arm with six degrees of freedom and a four parallel link mechanism gripper to hold objects in extremity. Finally, the experiment of controlling wheelchair to move a destination for grasping a cup task were realized for feasibility verification.

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