研究生: |
Andika Pramanta Yudha Andika - Pramanta Yudha |
---|---|
論文名稱: |
無感測器順應式控制之下肢外骨骼機器人體重支撐跑步機復健訓練 Force Sensorless Compliance Control of a Lower-limb Exoskeleton Robot for Body-weight Support Treadmill Rehabilitation Training |
指導教授: |
郭重顯
Chung-Hsien Kuo |
口試委員: |
Gee-Sern Hsu
Jison Hsu Jerry Lin Jerry Lin Sun-Feng Su Sun-Feng Su Shiuh-Jer Huang Shiuh-Jer Huang |
學位類別: |
碩士 Master |
系所名稱: |
電資學院 - 電機工程系 Department of Electrical Engineering |
論文出版年: | 2016 |
畢業學年度: | 104 |
語文別: | 英文 |
論文頁數: | 86 |
中文關鍵詞: | N/A |
外文關鍵詞: | FAT based adaptive control, disturbance observer. |
相關次數: | 點閱:288 下載:0 |
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This research represents a 5 degree of freedom (DOF) wearable lower body exoskeleton with a model-based compensation control framework to support hip-knee rehabilitation. Each exoskeleton leg is a 2 DOF 2D manipulator robot. To design the rehabilitation tasks, we use the function approximation technique (FAT) based adaptive control on each 2 DOF leg for position control, and a compliance control for 1 DOF upper part motor to lift the body according to the ground contact force estimated by disturbance observer. The exoskeleton control movement was realized by designing trajectory for leg movement and using FAT based adaptive control as the position control without acceleration feedback and system dynamics, so the natural system dynamics can be adaptively compensated. According to the simulation result, the disturbance observer can successfully estimate ground contact force with acceptable error as the force input to the compliance control applied in 1 DOF motor to lift the main body when performing walking sequence on treadmill. FAT based adaptive control represents the better performance than the conventional proportional derivative (PD) control. Moreover the FAT based adaptive control is capable of dealing with different subject without any changes in control parameters.
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