| Summary: | 碩士 === 國立成功大學 === 電機工程學系碩博士班 === 101 === In recent years, many researchers have studied how to employ power assisting devices in order to improve the efficiency of exercise and rehabilitation. There are some criteria when designing power assisting devices: 1). Power assisting devices should assist users in accomplishing movements designed for exercise or rehabilitation in the training of specific muscles; 2). Power assisting devices should provide moderate loads for users to enhance the effectiveness of exercise and rehabilitation. 3). Power assisting devices should ensure the safety of users. In this thesis, a control scheme is proposed for arm exercise and rehabilitation devices. In order to assist users in accomplishing the desired movements, the computed torque method is applied to achieve trajectory tracking for the devices, while a disturbance observer is proposed to compensate for disturbance, so as to improve the tracking performance. In order to provide moderate loads for the users, impedance control is employed to adjust the dynamics of the devices to act as mass-spring-damper systems. Instead of employing the force sensor, the disturbance observer is utilized to estimate the contact force of users so as to overcome the disadvantages of the force sensor, such as narrow bandwidth and high cost. In order to ensure the safety of users, passive velocity control is employed to maintain the passivity of the system. Lastly, an experimental platform is constructed to verify the control scheme proposed in this thesis.
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