本文主要針對下肢能正常產生肌電訊號者，利用肌電訊號作為外回授控制穿戴式人體下肢輔具。透過改善輔具機構設計，將輔具實體部分重量傳至地面，減輕重量對穿戴者造成的負擔。在站到坐及坐到站系統中，加入了電池重量與摩擦力的補償，以及加入控制器做回授控制，提升輔助效果。上下樓梯時，根據支撐期及擺盪期的肌電訊號給予輔助力。由實驗結果得知，上樓梯支撐期左右腳股直肌輔助比為45.53%及54.78%，擺盪期左右腳脛前肌為65.16%及57.92%；下樓梯支撐期股直肌及脛前肌輔助比為57.86%及65.69%，擺盪期股直肌及脛前肌為55.91%及78.66%，可知股直肌及脛前肌都是省力。走路時，分為支撐期與擺盪期，根據足底壓力、股直肌與脛前肌肌電訊號的特性，建立一套走路動作意向偵測方程式。
輔具為外骨骼狀穿戴於下肢外側，於膝關節及髖關節分別裝置無刷馬達作為致動器，並以電池作為動力來源，藉由馬達轉動帶動輔具進而給予穿戴者輔助力，使穿戴者在進行起立及坐下的動作時能減少出力，以達到輔助之目的。

This paper designed a lower limb exoskeleton system for the people who can generate electromyogram functionally. Through the improvement of mechanism design which can transfer partial orthosis weight to ground and reduce the orthosis weight burden that impact on the wearer. For stand to sit and sit to stand system, we add the battery weight compensation and friction compensation, and do feedback control with controller. For ascending and descending, giving the auxiliary force according to the EMG in stance phase and swing phase, then we can find out rectus femoris and tibialis anterior both achieve energy-saving in stance phase and swing phase from the experimental results. For walking, the walking gait can be separated into stance phase and swing phase. According to foot pressure and electromyogram of rectus femoris and tibialis anterior, we establish an algorithm to estimate motion intention while walking.
This exoskeleton is actuated by four flat EC motors on the wearer’s both knees and hips. Through the rotation of motors, it sends torque to wearer’s knees and hips in order to reduce the strength when sitting,standing, ascending and descending.

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