近年來，有膝關節問題的人越來越多，本文欲研發一套下肢輔具，針對腳有偏癱或是患有退化性關節炎的患者，使其穿戴下肢輔具，在行走時給予適當的膝關節輔助力以幫助行走、坐站與上下樓梯。但如何即時得知穿戴者自身肌肉出力狀態，並且給予輔助，便是一個重要的問題，為了解決這個問題，本文整合肌電訊號的處理以及下肢輔具，以大腿的肌電訊號來判斷穿戴者的出力狀態並配合腳底壓力感測器來判斷步態，最後即時給予穿戴者適當的輔助膝關節力矩以減輕使用者出力以及改善其行動能力。
　　輔具設計的部分，以彈簧做儲能元件，並用直流馬達作致動器，藉由馬達拉動纜繩壓縮彈簧儲存能量或於放開纜繩時釋放彈性能來輔助穿戴者出力，使用攜帶式的電池，使穿戴者可以穿戴輔具持續行走一小時，最後讓穿戴者於穿戴下肢輔具時，能減輕膝關節出力達40%以上。

In recent years, people who have diseases of knee joint is increasing, This thesis is aimed to design a wearable assisted lower limb orthoses for person who has hemiplegia or degradation of knee joint, this orthoses will generate force in real-time to assist the wearer to walk, sit-to-stand and ascent/decent the stair. To obtain the muscle force of wearer , this thesis proposed a method to combine with the processing of electromyography and lower limb orthose, and using the EMG electrodes on the thigh to estimate knee torque together with foot sensor to determine user’s gait, this orthoses will provide appropriate force in real-time to assist the wearer.
The proposed orthoses design uses spring as an energy storage element, while DC motor is adopted as actuator, when DC motor pull the cable, the spring will store energy, if DC motor relaxes the cable, the spring will return potential energy to assist user. This orthoses uses portable battery, it can last for one hour, and from experimental results, while wearing the wearable assisted lower limb orthoses, it could assist the knee torque up to 40%.

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