具運動輔助及復健功能之可穿戴式上肢外骨架機器人

This paper presents the Simulink virtual system of pneumatic artificial muscle based on a mathematical model. Therefore, a complete system is constructed by combining all of the mathematical models with the Simulink. An appropriate voltage source is used to control the rate of air flow, and then, the pneumatic artificial muscle will be expanded or contracted to obtain the output force and the displacement so that can be used for the control of a wearable exoskeleton robot. PSoC is a chip that has the friendly interface which can let users to choose the type of design and to choose the Input/Output pins conveniently. The digital and the analog electronic components are already bult-in and alos the blocks to place electronic components. Because the characteristics of the chip, it’s possible to reduce the area of circuit board and the amount of electronic components. As a controller of the system, PsoC chip, could replace the functions of traditional microcontroller and the external components.