對中風病人而言，病人的部分肢體產生永久失能的人數逐年上升，若想恢復自身的肢體功能，必須投入大量的時間與醫療資源來從事漫長的復健療程。由於上述之醫療需求增加及機器人自動化產業的蓬勃發展，外骨骼機器人已逐漸被應用於復健治療上，透過機械的穩定特性與可靠性，除了能幫助大量的病人完成密集且高強度的復健療程且緩和人力資源上的缺口外，更能提供給醫師與復健治療師可靠的數據，以進行診斷及擬定治療策略上的判斷。此研究針對中風病患臨床復健上的需求，設計開發一套以線驅動力為主的手部復健機器人，適用於患者中風後的被動手部關節活動度復健。此系統也整合了中風復健中的鏡像治療之功能，可有效地協助中風病患進行中風後的復健與腦神經修復的相關復健療程。此外，本研究以拉格朗制運動分析理論為主軸，提出屬本案手部機器人機構的拉格朗制運動模型，用以計算及預測機構於空載時，驅動手指所需之線張力變化與關節角度之關係，並透過實驗驗證其理論模型之正確性，作為後續對病患肌肉張力研究之基礎理論。最後，將本案所研發之系統導入臨床實驗，驗證臨床的可用性，並觀察當系統用於不同MAS分數的病患時，線張力與肌肉張力之間的交互作用關係。臨床實驗結束後，藉由評分量表的方式呈現中風病人對機器人的復健治療的接受度與滿意度。

For stroke survivors, rehabilitation is essential for them to regain previous dexterity after the impairment of hand motor function, which requests long-term medical care and massive medical resources. Owing to the demands from clinical and rapid growth of robotic technology, exoskeletons have great potential applications in rehabilitation engineering because of its efforts to overcome the inefficiency of conventional therapy. In this thesis, we developed a cable-driven exoskeletal hand system for hand rehabilitation after stroke. Designed system is able to help patients perform therapeutic range of motions exercises and mirror therapy, which are beneficial to recovery of impaired limbs and of neuroplasticity. In addition, based on the Lagrange method, the dynamic model of developed mechanism is derived, precisely estimating dynamic cable tension according to the joint position of exoskeletal finger without human subjects. The validity of Lagrange model is supported by external experiments. Finally, the usability study of system and evaluation of rehabilitation on patients with different spasticity level are obtained by SUS questionnaire. Also, feasibility for identifying the patient’s spasticity force with different MAS level through the measured tension is discussed.

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