鋼索驅動並聯式機器人之關鍵技術發展與其在整合虛擬實境之通用型復健系統應用

The goal of this project is to develop the key technologies of the cable-driven planar robots (CDPR), and thereby establishing the first CDPR-based general-purpose rehabilitation robot integrating the motor torque compensation control and virtual reality (VR) technologies in Taiwan. The period of this project is two years. In the first year, the developments of modularization key technologies of CDPRs and their applications in the simple general-purpose upper/lower limb rehabilitation training system have been done. In the second year, the developments of a three degree-of-freedom (DOF) suspended CDPR and its rehabilitation application with VR technology were completed. In this project, the electromechanical systems of two/three DOF planar/suspended robots, forward and inverse kinematics analysis, gait trajectory planning, motor torque compensation control, real-time deep learning image recognition and VR system development are all done with concrete results. In addition, three control modes including torque control mode, positioning control mode and teaching mode have been completed for the CDPR rehabilitation robot, which can be designed as personalized rehabilitation program by the rehabilitation therapist. Moreover, a variety of upper/lower limb rehabilitation functions have also been successfully developed using the above-mentioned three control modes to demonstrate the feasibility of the proposed CDPR in application of clinical rehabilitation.