臺灣博碩士論文加值系統

本研究為一上肢動力外骨骼，目標用於工業或軍事領域，希望可以藉由增強穿戴者的肌耐力來提升人體運動能力。使用外骨骼進行負重時，外骨骼會承擔所有的負重，而穿戴者只需要對外骨骼施加很小的力即可令外骨骼運動，因此可提升長時間負重的能力。

外骨骼每隻手臂有三個自由度，分別是肩膀兩個、手肘一個。各個關節致動器由直流無刷馬達、減速機與角度感測器組成，並根據不同的關節設計成不同的規格和樣式。肩關節致動器使用盤型馬達與諧波減速機，以降低軸向尺寸；肘關節使用圓柱型馬達和滾珠螺桿組成的線性致動器，並搭配連桿結構，讓致動器可以貼合上臂。機構設計經過有限元素分析與拓樸最佳化，在保證結構強度的前提下盡可能地減輕重量，且設計重心靠近人體中心。機構主要由鋁合金CNC切削製成，細部零件根據不同的部位使用多種材料與加工法製作。

其控制方式為透過終端多軸力感測器來感知穿戴者與外骨骼間的相互作用力，再藉由順、逆向運動學、導納控制與座標系轉換等完成系統控制。使用STM32 ARM微控制器進行控制。

本研究參考了各種文獻，分析目前各種上肢動力外骨骼的設計，探討外骨骼的機構設計、控制策略、運動系統與馬達致動器的設計等，進而完成一副完整的上肢動力外骨骼系統，設計有效荷載為4公斤。

This study is an upper limb powered exoskeleton targeted for industrial or military use, aim to enhance human locomotor performance by increasing the muscular endurance of the wearer. When the exoskeleton is used for weight-bearing, the exoskeleton will bear all the weight, and the wearer only needs to apply a small amount of force to the exoskeleton to make it move, thus enhancing the ability to carry weight for long periods of time.

The exoskeleton has three degrees of freedom for each arm, two for the shoulder and one for the elbow. Each joint actuator is composed of a brushless DC motor, a reducer and an angle sensor, and designed with different specifications and styles for different joints. The shoulder joint actuator uses a disc motor and a harmonic drive to reduce the axial dimension; the elbow joint uses a linear actuator consisting of a cylindrical motor and a ball screw, with a linkage structure that allows the actuator to fit the upper arm. The mechanism is designed with finite element analysis (FEA) and topology optimization (TO) to reduce weight as much as possible while ensuring structural strength. The center of gravity is designed close to the center of the body. The mechanism is mainly made of aluminum alloy by CNC. The parts are made by various materials and processing methods according to different parts.

The control method is to sense the interaction force between the wearer and the exoskeleton through the end multi-axis force sensor, and then the system is controlled by forward and reverse kinematics, admittance control and coordinate system conversion. The STM32 ARM microcontroller is used for control.

In this study, various designs of upper limb powered exoskeletons are analyzed with reference to many literatures, and explore the mechanism design, control strategy, motion system and motor actuator design of the exoskeleton, finally finished a complete upper limb powered exoskeleton system, with a design payload of 4 kg.

摘要 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . i
Abstract . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ii
誌謝 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iv
目錄 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . v
表目錄 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . vii
圖目錄 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . viii
第 一章 緒論 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.1 研究背景與動機 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.2 文獻探討 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.2.1 動力外骨骼控制技術 . . . . . . . . . . . . . . . . . . . . . . . 2
1.2.2 上肢動力外骨骼發展現狀 . . . . . . . . . . . . . . . . . . . . 4
1.3 論文架構 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
第 二章 系統架構 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.1 硬體架構 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.2 各硬體介紹 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.2.1 微控制器 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.2.2 SIE 關節 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.2.3 SFE 關節 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.2.4 EFE 關節 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2.2.5 力感測器 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
2.2.6 角度感測器 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
2.3 韌體程式 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
2.3.1 框架與函式庫 . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
2.3.2 通訊 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
第 三章 研究內容 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
3.1 機構設計 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
3.1.1 SIE 關節 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
3.1.2 SFE 關節 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
3.1.3 EFE 關節 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
3.1.4 拓樸最佳化 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
3.2 控制系統設計 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
3.2.1 動力外骨骼高層次控制 . . . . . . . . . . . . . . . . . . . . . . 28
3.2.2 三軸運動學 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
3.2.3 座標系轉換函數 . . . . . . . . . . . . . . . . . . . . . . . . . . 33
3.2.4 直流無刷馬達控制 . . . . . . . . . . . . . . . . . . . . . . . . 34
3.2.5 馬達調變技術 . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
3.2.6 PID 控制器 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
3.2.7 導納控制 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
v
第 四章 實驗成果與測試 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
4.1 有限元素分析 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
4.2 完成之外骨骼 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
4.3 負重測試 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
4.4 穿脫容易度測試 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
第 五章 結論與未來展望 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
5.1 結論 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
5.2 未來展望 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
參考文獻 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
附錄一 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Extended Abstract . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

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