以直接/間接腦波人機介面為基礎之中風病人復健輔具系統-子計畫三：動作輔具機構與驅動設計研發(1/3)

The goal of this project is to complete the mechanism design and drive circuit development of rehabilitation assistive for stroke patients. It is mainly divided into two parts: hardware and software. The aspect of hardware is the design of mechanism, controller, actuator and circuit; the aspect of software is the design of the control algorithm. In terms of hardware, the part of mechanism is mainly composed of aluminum alloy, resin, and springs. Regarding the exoskeleton, this project is intended to construct the model of wearable rehabilitation assistive with SolidWorks and analyze the force of each part on object for making improvements with ANSYS. On the part of actuator, we will select a hydraulic drive device with high power density and easy to realize precise automatic control. This system is also suitable for driving a heavy-duty, high-mobility exoskeleton. On the part of circuit, we will use Texas Instruments DSP series as the control core with a self-designed circuit board, and use DAC (digital-to-analog converter) combined with a signal amplifier as the driving wearable rehabilitation aid. To take feedback system into account, this project is intended to use Biometrics' SG110 angle sensor and the LPMS series of attitude sensors, which feedbacks the real-time attitude angular position of the wearable rehabilitation assistive and compares the input command as the input of controller to achieve precise position control of limb attitude. In terms of software, this project is intended to use CCS (Code Composer Studio) software to compile various controls and algorithm. Furthermore, we will select adaptive control algorithms to control the attitude of rehabilitation assistive for making the non-linear Sexual behavior obtain excellent control effect. The research of this project is expected to be able to integrate the hardware and software, which will be improved by conducting experiments and testing data. Finally, this project will achieve practicability, comfortability, humanity, and even meet the rehabilitation and life needs of auxiliary users.