由於現今台灣生育率逐年下降與平均壽命延長，使得台灣面臨高齡化社會的問題越來越嚴重，青壯年平均撫養老年人之比例也因而提高，因此期望氣壓肌肉能夠應用於義肢輔具或是穿戴式復健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。氣壓肌肉為一種輕量高安全性之致動器，其可撓性使人體與機械之間的接觸更加安全，在輔具上的應用比起馬達與液壓致動器更具有發展潛力。然而氣壓肌肉具有高度非線性之性質，為了使氣壓肌肉能有更準確的控制，本論文完成氣壓肌肉之非線性之動態物理模型。建模主要著重於氣壓肌肉之力量表現，其中包含壓力與氣壓肌肉本身之彈性所造成之力量總成關係、壓力與質量流率之關係與質量流率與輸入電壓之關係，進而推導出單輸入單輸出之三階模型系統。輸入項為比例控制閥之閥命令電壓，輸出項為負載物之位移，三個系統狀態則為壓力、變形量及速度。模型中的參數利用實驗數據與最小平方法進行鑑別，最後經由靜態實驗與動態實驗來驗證模型的準確性，在梯形波實驗輸入壓力為 5bar 與負載為 4.557kg 之操作條件下，使用內差法之模型最小穩態誤差為 11 %，使用多項式數學模型最小穩態誤差為16.8 %。未來將以此模型為基礎發展控制策略。

In Taiwan as the fertility rate is declining year by year and the average life is risen, the problem of Taiwan’s ageing society is getting more and more serious, and the proportion of young people who are raising elderly people on average is also rising. Therefore, it is expected that the Pneumatic Muscle Actuator (PMA) can be applied to prosthetic aids to help the elderly or the disabled to improve their ability to live their own lives. PMA are lightweight,high-security actuators whose flexibility makes the contact between the human body and the machinery safer.The use of PMA in assistive devices has potential for development over motors and hydraulic actuators.However,PMA is a highly nonlinear actuator. In order to make PMA have more accurate control, this paper completes the nonlinear dynamic physical model of PMA. Modeling mainly focuses on the performance of PMA,It includes the relationship between force and pressure combine with the elasticity of PMA, the relationship between pressure and mass flow rate, and the relationship between mass flow rate and input voltage.The dynamic model in this paper is single-input-single-output(from the valve command voltage to motion) third-order model system.The three system states are the pressure, displacement, and speed.This paper use the least square method to find out the parameters in the model by using the experimental data.Finally, the accuracy of the model was verified through static experiments and dynamic experiments.The model of the internal difference method has a minimum steady-state error of 11 %under the operating conditions of a trapezoidal wave experimental input pressure of 5 bar and a load of 4.557 kg .The polynomial mathematical model has a minimum steady-state error of 16.8 % under the same conditions.In the future,we will develop the control strategies based on this model.

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