復健暨訓練裝置及其控制方法
  ‧ 專利名稱 復健暨訓練裝置及其控制方法
  ‧ 專利證書號 I354550
9358173
  ‧ 專利權人 國立臺灣大學
  ‧ 專利國家
    (申請日)
中華民國 (2008/05/09)
美國 (2008/07/02)
美國 (2012/11/02)
 
  ‧ 發明人/PI 傅立成 ,王威文 ,何政昌 ,周晏榆 ,
  ‧ 單位 資訊工程學系
  ‧ 簡歷/Experience
技術摘要 / Our Technology:
本發明係為一種復健暨訓練裝置及其控制方法,藉由一多軸機械手臂平臺之設計,搭配高精密度的控制系統,引入物理治療師的經驗法則,去模擬徒手治療的方式。透過接收處理感測資訊,分別以主動模式、被動模式與輔助模式以牽引使用者進行持續性的復健動作,或依據使用者肌力之大小,給予適當的助力或阻力,協助完成復健。醫師與物理治療師也可藉由平台上的人性化操作介面提供之復健數據,進行客觀的評估,調整使用者療程的時間。

A rehabilitation and training apparatus is built based on the empirical law by introducing physical therapists' experiences into the apparatus to simulate therapy with hands in the course of rehabilitation. The apparatus includes a multi-axis robotic arm having first to eighth arm segments, and a high-precision control system for controlling movements of the multi-axis robotic arm. The control system provides an active, a passive and an auxiliary mode; receives and computes information about a patient's movements and muscle force detected by potentiometers and force sensors provided in the multi-axis robotic arm; and accordingly, drives actuators to apply an aiding force or a resisting force to assist the patient in completing rehabilitation exercises. The apparatus also includes a humanized operating interface, via which a doctor or a physical therapist may obtain related rehabilitation data for assessment and adjustment of rehabilitation therapeutic courses. A method of controlling the apparatus is introduced.





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