鋁行者

隨著科技的進步使勞動人口年齡逐漸上升，需要長時間搬重物的使用者們，本文提出一套可穿戴之下肢外骨骼系統，它可用來增強使用者之承受附載的能力。當感測器偵測到數值後，判斷使用者此時應該要做什麼動作，運用程式控制驅動馬達輸出扭力，讓下肢外骨路來輔助使用者完成動作。在實際測試後，穿戴下肢外骨骼原型機可成功地將作用於其上之大部分的負荷轉移至地面，所以使用者幾乎不會感受到負荷的存在。實驗結果也證實程式控制對於蹲下、步行和上下樓梯等常見的活動皆十分有效。 Worker age rises gradually with the technical progress, this study proposes a wearable lower-limb exoskeleton who needs moves the heavy item in the long time, it is designed to augment the load-carrying capability of the user. Judge the user what he should do when sensors detects the values, then uses formula control actuation motor to output torsion for lower-limb exoskeleton that assists the user to complete the movement. After actual test, wearing the lower-limb exoskeleton can successfully transfer most of its load to the ground, and the user in general does not feel the existence of the load. The aforementioned methods for controlling the exoskeleton are also verified to be effective for most of the desired activities, such as squatting, walking, and climbing stairs.