近年來，隨著醫療技術之日益進步，以及機器人技術之蓬勃發展，於醫院的復健中心，已經有不少復健機器甚至是復健機器人來輔助患者之復健過程，同時減少物理治療師為病患進行復健過程之體力付出與負擔。透過尖端科技之發展，復健機器人可以讓患者之復健動作得以更精準且有效率地達成復健之目標。有鑑於此，本論文應用串聯彈性致動器（Series Elastic Actuator，SEA），實現了針對老年人活化肌群能力之復健機器人。串聯彈性致動器是廣泛地被應用在剛性致動器之人機互動方面的研究，例如力量控制、扭力控制、低阻抗、容忍衝擊力等相關實驗。針對SEA模組之研發，透過兩組致動器以及兩組拉伸彈簧為其基本架構，透過彈簧之變形量轉換為扭力控制之方式，提供人機互動過程中之過載保護機制。實務上，以傳統比例積分微分（Proportional-Integral-Derivative，PID）控制器搭配適應性控制演算法，來達成關節致動器之軌跡追蹤以及復健效能評估。同時，此一叢集式硬體平台之開發與系統整合搭配使用者介面（Graphic User Interface，GUI），提供受試者透過語音提示以及系統指示訊號，完成相關復健動作並且紀錄受試者之運動軌跡。最後，依據模擬和實驗結果成功地驗證所提出的SEA應用於復建機器人之可行性以及有效性。

Thanks to state-of-the-art medical technologies and the advances of robotic technologies, rehabilitation robots have gained popularity in recent years. There are lots of rehabilitation machines or robots playing an essential role in ameliorating the performance of rehabilitation process and helping people to recover their ability through muscle activation. On the other hand, rehabilitation robots have been proven to reduce the cost of physiotherapists, such as time and physical labor. In this thesis, the series elastic actuator (SEA) design was utilized to realize a rehabilitation robot for Produce Outcome to Worthwhile for the Elder Reactivation (POWER). The SEA design is known to offer ameliorated advantages over stiff actuators for human–robot interaction, such as torque control, force control, tolerance to shock and low impedance. Practically, implemented with the approaches of conventional proportional-integral-derivative (PID0 control and adaptive control to joint actuators, is used to track specific training trajectories with the considerations of different loading of forces. In this thesis, an intelligent cluster rehabilitation machine was developed by integrating the functions provided from four commercial POWER machines with a user graphic interface (GUI), providing users to finish the exercise by following the system guidance consisting of voice hint and information visualization. The system will record the training trajectories after users finish the training. Finally, the simulation and experiment results successfully validated the feasibility and effectiveness of the proposed SEA-based POWER rehabilitation machine.

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