智慧型被動式行動輔助機器人

Intelligent Passive Robot Walking Helper

隨著高齡化社會的來臨，由於行動輔助機器人能提供老年人日常生活之安全行走輔助，已然成為重要的研究主題，為了增加實用性，它需要能即時偵測使用者行走狀態與意圖，以利於提供適時的行動輔助。雖然目前已有不少的導引方面的機制提出，但在操控上的研究相對較少，因此本文提出以使用者意圖為依歸之被動式行動輔助機器人操控系統，經由偵測使用者施力與身體髖部角度，識別使用者行動意圖，然後運用被動控制方法來產生適當的剎車扭力，以實現機器人之行動輔助，最後，我們應用所開發之行動輔助機器人進行實驗，以驗證所提系統的實用性。 In responding to aging society, robot walking helper has come up as a research focus. To be practical for use in daily lives for the elders, it should be able to follow user intention during maneuver and provide motion assistance when demanded. As quite a number of guidance schemes have been proposed, the study on maneuver is comparatively few. This article introduces a maneuvering system for the passive type of robot walking helper based on user intention. The system fi rst recognizes motion intention from user-applied force and hip rotation, and then utilizes an assistive control strategy to generate proper braking torque for effective maneuver. Experiments in a real environment are conducted for demonstration.