氣壓肌肉驅動兼具上肢助力與復健訓練功能之外骨骼系統

Exoskeleton System with the Functions of Upper-Limb Power Assist and Rehabilitation Training Driven by Pneumatic Muscles

This study attempts to develop an exoskeleton power assisting device using a pneumatic muscle (PM), and deduce the mathematical model of a pneumatic muscle. Moreover, conduct theoretical analysis on upper limb kinematics and dynamics, and experiments on the upper limb weight bearing ability, as well as research of a control strategy design. This study has preliminarily completed the development and basic research work of an upper limb exoskeleton system driven by PM. The design of the existing upper limb exoskeleton power assisting device is mostly based on a motor drive. Although the motor drive has the advantage of higher control accuracy, but it has the disadvantages of complex mechanism, high rigidity, and a lack of flexibility, thus, it cannot meet user’s increasingly high demands for safe system usage. The PM has the advantages of small volume, light weight, low cost, high safety, flexibility, and great power-to-weight ratio. Therefore, the PM can increase the flexibility of upper limb exoskeleton power assistance, which is more suitable for application to the system driver, and can reduce the system’s production cost and overall device weight.

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Photographs of the upper-limb powered exoskeleton system

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Achievements

  1. 中華民國發明專利: I494200

  2. 期技術授權: 飛斯妥股份有限公司

  3. 中華民國發明專利: I584801

  4. 美國發明專利: US 10,420,695 B2

  5. 中國發明專利: ZL 2017 1 0240416.4

  6. 技術轉移: 華亨科技股份有限公司