本文將針對下肢能正常發出肌電訊號的人設計一套輔具。建立一套意向偵測的判斷法則，並配合肌電訊號與上身前傾角度作為動作判斷及觸發的依據。藉由下肢所發出的肌電訊號經由包络線處理後分析，使用電流回授控制的方式給與膝關節適當的輔助力。
輔具為外骨骼狀穿戴結構，於膝關節及髖關節外側分別裝置薄型無刷馬達作為致動器，並以鋰電池作為動力來源。馬達轉動帶動輔具進而提供穿戴者力矩，使穿戴者在進行坐下及站立的動作時能減少出力，達到輔助的目的。

In this article, the author aimed to design a lower limb orthosis for the person whose lower limb can emerge the normal electromyography. According to the motion intention method, using the electromyography signal and upper limb angle as the trigger signals of motion. The lower limb electromyography signal is processed by linear envelope method, and the signal was sent to the controller. The system used PI current feedback control to give the wearer’s knee appropriate aids.
This orthosis is an exoskeleton with four flat EC motors as the actuators mounted on the outer of the wearer’s both knees and hips, and using a battery as the power source. While motor rotating, motor sends the torque to wearer’s knee, so that, the wearer will use less force when he/she is sitting down or standing up, and reach the aid purpose.

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