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系統識別號 U0026-0108201712065200
論文名稱(中文) 共享控制應用於人與助行器系統之研究
論文名稱(英文) The Study of Shared Control Applied on a Human-and-Walking-Aid System
校院名稱 成功大學
系所名稱(中) 機械工程學系
系所名稱(英) Department of Mechanical Engineering
學年度 105
學期 2
出版年 106
研究生(中文) 謝宗翰
研究生(英文) Tsung-Han Hsieh
學號 N16041595
學位類別 碩士
語文別 中文
論文頁數 71頁
口試委員 指導教授-田思齊
口試委員-張仁宗
口試委員-陳國聲
中文關鍵字 共享控制  助行器  行走步態模型  安全性預測  仲裁 
英文關鍵字 shared control  walking-assistant system  gait model  safety prediction  arbitration 
學科別分類
中文摘要 本研究將人機共享控制應用於適合行走不便者使用的智慧型助行器上。經由建立一個使用共享控制的人與助行器系統,並透過模擬的方式驗證共享控制能夠避免使用者疏忽而造成的傷害,且同時也避免過於相信智慧控制器而導致偏離使用者意圖。在人體狀態資訊方面,本研究建立人與助行器系統行走步態模型,再利用此模型與人體參數分析人體作用力情形,獲得人與助行器系統的狀態資訊。在共享控制中的預測方面,本研究以安全性預測為主要考量。由偵測環境中障礙物距離,以及利用零力矩點與建立之人與助行器系統模型,預測人體姿態的穩定性,作為智慧控制器建議命令之依據。在共享控制中的仲裁方面,本研究提出由使用者因實際狀況改變仲裁權重的機制,進而裁決最終的控制命令。模擬結果顯示,人與助行器系統運用本研究所提出之共享控制方法,能在一維與二維環境下確保使用者的安全性。此外,當機器偏離使用者意圖時,使用者能介入並修正。
英文摘要 This research applies the human-machine-shared control on a smart walking-assistant system for walking-impaired persons. With simulation of this smart walking-assistant system, it is verified that the shared control can not only prevent damage caused by users' negligence but also avoid deviations from users' intention when relying on the smart controller overly. In order to simulate the walking states, a model of walking gate with a smart walking-assistant system is established first and then used to analyze forces exerted on users as well as the corresponding walking states. For prediction, safety is the main concern of this research. Therefore, the recommended command of the smart controller is based on users' stability which is evaluated with distance from obstacles in the environment and the zero moment point of the user and the smart walking-assistant system. As for arbitration, a mechanism for users to change the weighting of arbitration according to the actual situation is proposed to affect the final control commands. The simulation results show that, with the proposed methods, the smart walking-assistant system can ensure users' safety in both one-dimensional and two-dimensional environments. In addition, users can step in the control loop and fix the error when the smart walking-assistant system deviates from their intention.
論文目次 圖目錄. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii
表目錄. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . v
符號表. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . vi
第一章緒論. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
第二章人與助行器系統介紹. . . . . . . . . . . . . . . . . . . . . . . . . . 5
第三章人與助行器系統模型. . . . . . . . . . . . . . . . . . . . . . . . . . 8
3.1 身體參數. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
3.2 步態與身體姿態運動模型. . . . . . . . . . . . . . . . . . . . . . . 10
3.3 反力與關節施力計算. . . . . . . . . . . . . . . . . . . . . . . . . . 22
3.3.1 身體受到的反作用力計算. . . . . . . . . . . . . . . . . . . 22
3.3.2 關節施力計算. . . . . . . . . . . . . . . . . . . . . . . . . . 24
3.4 助行器模型. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
第四章控制方法. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
4.1 智慧控制器. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
4.2 意圖轉換器. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
4.3 一致性評估器. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
4.4 仲裁. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
第五章模擬與討論. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
5.1 虛擬使用者行為模式. . . . . . . . . . . . . . . . . . . . . . . . . . 45
5.2 模擬情境. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
5.3 模擬結果與討論. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
5.3.1 一維環境. . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
5.3.2 二維環境. . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
第六章結論與未來展望. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
6.1 結論. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
6.2 未來展望. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Bibliography . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
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