| Summary: | 碩士 === 國立臺北科技大學 === 車輛工程系所 === 104 === As the increasing of person who have abnormal gait, which caused by their leg disorders, and the change of social values, people tend to choose a multifunctional product. Therefore, it becomes an important issue to develop a walking assistive devices with multi-function to help those patients. Traditional knee orthosis can only provide a simple walking support, because it cannot offer variable adaptive supporting force, the patients won’t be able to walk normal gait. On the other hand although the active knee orthosis can make patients walking naturally by using a motor, its heavy weight, high cost and high power consumption are not affordable to most consumers.
This research develop a new knee orthosis with variable resistance to improve the drawbacks of conventional knee orthosis and motor-driven knee orthosis. A special multi-layer magneto-rheological brake (MRB) was designed to provide high torque and variable resistance for the knee orthosis. The MRB is integrated with gear reduction system, supporting frame, sensors and smart actuators. The MRB has achieved high torque and high torque-volume ratio through the simulation, optimization and experimental test. The advantages of MRB are fast response, easy control, low power consumption and environmental friendly. It can support 60 kg person with 39 N-m.
In this research we use tachometer and force sensors to detect knee angle and foot pressure respectively, analyze the knee angle, angular velocity, angular acceleration and foot pressure respectively of walking. We design an intelligent control strategy through the signal feedback of sensors, which include preventing falling and keeping normal gait, also can let doctor to determine whether changing posture or not by the information of man-machine interface. After dynamic test we have proofed MRB knee orthosis can provides adaptive knee resistance to protect patients and to provide assistance for normal gaits.
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