| Summary: | 碩士 === 正修科技大學 === 機電工程研究所 === 103 === Due to the advent of old age and life quality demands of car accident victims, stroke and other disease patients with lower limb disabilities, the future development potential of lower limb exoskeleton rehabilitation institutions should not be underestimated. Moreover, the customization demand and improvement in computer-aided design, manufacturing, analysis, simulation and control can create walking aids with better functions and closer to the users’ needs which enables rapid stimulation of the markets.
This study discussed the two limbs axis exoskeletons rehabilitation agency designs, among which include using LifeMod biomechanics software to complete the motion and biomechanical analysis of natural actions. The results can be used as forecast verification system of lower limb orthoses and foot motor drive torque pressure signals. Next, the knee, hip drive system, and the aid structure of the lower limb is constructed according to the customized conditions and completed the geometrical drawing of the components and the system assembly diagram. RecurDyn was used to complete the relative motion and simulation of the motor power. This study separately construct three program designs from three different focus, namely two-axis drive system including same side, different sides and knee centrode method, according to the usage demand to expand the different customization characteristics of the users.
Lastly, this study constructed Mexon RE40 motor, linear guide rod drive system and multi-axis motion cards with the knee and hip complete GALIL drive system based from the results provided by the analysis software. Moreover, the direct current motor encoder system, nine-axis attitude sensing module and thin-film piezo-electric sensor were used to complete the plantar pressure sensing, the two-dimensional force sensing body sensors and signal recognition technology to complete the mechatronics practice demands of the exoskeletons rehabilitation robots.
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