| Summary: | 碩士 === 國立交通大學 === 電控工程研究所 === 101 === In recent years, the progress in medical innovation has contributed to longer life-span of human being. Cause of the decrease of birthrate birthrate , the problem of , the problem of , the problem of , the problem of , the problem of , the problem of , the problem of aging of aging of aging of aging of aging of aging of aging of aging of population has been emerged. Taking care of the elderly now became an important has been emerged. Taking care of the elderly now became an important has been emerged. Taking care of the elderly now became an important has been emerged. Taking care of the elderly now became an important has been emerged. Taking care of the elderly now became an importanthas been emerged. Taking care of the elderly has now became an importanthas been emerged. Taking care of the elderly has now became an importanthas been emerged. Taking care of the elderly has now became an important has been emerged. Taking care of the elderly now became an importanthas been emerged. Taking care of the elderly has now became an important has been emerged. Taking care of the elderly now became an importanthas been emerged. Taking care of the elderly has now became an important has been emerged. Taking care of the elderly now became an importanthas been emerged. Taking care of the elderly has now became an important has been emerged. Taking care of the elderly now became an important has been emerged. Taking care of the elderly now became an importanthas been emerged. Taking care of the elderly has now became an important has been emerged. Taking care of the elderly now became an importanthas been emerged. Taking care of the elderly has now became an important has been emerged. Taking care of the elderly now became an important has been emerged. Taking care of the elderly now became an importanthas been emerged. Taking care of the elderly has now became an important has been emerged. Taking care of the elderly now became an importanthas been emerged. Taking care of the elderly has now became an important has been emerged. Taking care of the elderly now became an importanthas been emerged. Taking care of the elderly has now became an importanthas been emerged. Taking care of the elderly has now became an important has been emerged. Taking care of the elderly now became an importanthas been emerged. Taking care of the elderly has now became an importanthas been emerged. Taking care of the elderly has now became an important has been emerged. Taking care of the elderly now became an important has been emerged. Taking care of the elderly now became an importanthas been emerged. Taking care of the elderly has now became an important issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming issue. Nowadays, The progress of a variety walking helper robots is becoming mature. For solving the problem of mature. For solving the problem of mature. For solving the problem of mature. For solving the problem of mature. For solving the problem of mature. For solving the problem of mature. For solving the problem of mature. For solving the problem of mature. For solving the problem of mature. For solving the problem of mature. For solving the problem of mature. For solving the problem of mature. For solving the problem of mature. For solving the problem of mature. For solving the problem of mature. For solving the problem of inconvenient inconvenient inconvenient in the elderly in the elderly in the elderlyin the elderly in the elderlyin the elderly’s daily life, our s daily life, our s daily life, our s daily life, our s daily life, our s daily life, our s daily life, our s daily life, our s daily life, our s daily life, our laboratory laboratorylaboratory laboratory also develop a walking helper also develop a walking helper also develop a walking helper also develop a walking helper also develop a walking helper also develop a walking helper also develop a walking helper also develop a walking helper also develop a walking helper also develop a walking helper also develop a walking helper also develop a walking helper also develop a walking helper also develop a walking helper also develop a walking helper also develop a walking helper “i - Go. ” In this In this In this In this thesis, we gather the user’s grip force by a force-sensing handle and sort the it to different human intentions. The corresponding brake torque is evaluated from grip force via the fuzzy system. For different users, we design a learning method which gets fuzzy control parameters via iterated training. This system adapts individual characteristic and assists users to manipulate the walking helper. The experiments show that the users can manipulate the walking helper more accurately with the brake torque.
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