「世大智科/天才家居」-我們創業囉
Contact Professor: Yeh-Liang Hsu (徐業良)

一0二學年度元智大學機械工程研究所許博爾博士論文

Doctoral Dissertation by Dr. Po-Er Hsu
Mechanical Engineering Department, Yuan Ze University, 2013

102博士論文:以智慧型機器人輪椅作為高齡者行動、生活與健康照護中樞

  本論文由未來高齡者生活應用情境進行思考,以機器人輪椅作為技術發展的主軸,整合全向移動載具、多自由度座椅調整機構以及資通訊系統,針對高齡者於行動、生活與健康照護的需求,開發智慧型機器人輪椅-iRW(intelligent Robotic Wheelchair),以改善輪椅的使用性,增加高齡者獨立生活的能力與社會參與程度,進而提升其生活品質。

  iRW的全向移動載具採用Mecanum wheel達成零迴轉半徑及橫向移動等一般電動輪椅無法達成之靈活的位置移動功能,並配合針對高齡者與照護者所設計的5種不同操控模式(障礙物偵測、搖桿控制、感知推把推動、遠端操控、與室內導航),使iRW能夠在各種情況下,提供使用者直覺且低操作負擔的控制。其中,可隨使用者需求配置與修改的室內導航系統是iRW重要的自主行為能力,用以降低使用者的操作負擔,透過自動導引車輛(automated guided vehicles, AGV)的概念,使用者鋪設二維條碼(Quick Response code, QR code)所構成的虛擬軌道於天花板上,並利用裝置於平板電腦上的應用程式(App)讀取QR code的資訊並控制iRW沿著軌道自動地於環境中移動,達成室內導航功能。此外,iRW採用多自由度、高剛性、機構簡潔的史都華平台為iRW多自由度座椅調整機構設計的基礎,擁有升降起伏(heave)、前後翻滾(pitch)、與左右橫移(sway)等3個自由度,並配合軟質壓力感測器,開發智慧型座椅調整功能;iRW的多自由度座椅調整機構是以4支線性致動器特殊的排列與接頭選擇,將傳統6軸史都華平台簡化為4軸,並能夠降低控制的複雜度,讓使用者能經由按鍵連續地調整座椅高度、傾角、與左右平移,滿足高齡者對於長期乘坐的座椅舒適度及起身、如廁、上床等轉位輔助的需求。

Development of an intelligent robotic wheelchair as the center of mobility, health care, and daily living of older adults

  This thesis presents the development of the "intelligent Robotic Wheelchair" (iRW), which intends to redefine the wheelchair as the center of mobility, daily living, and healthcare of older adults. Technically, the iRW is composed of an omni-directional vehicle, a multiple degree-of-freedom (DOF) seat adjustment mechanism, and an information/communication module. The iRW is intended to enhance the usability of wheelchair to increase the independent living and social participation for the older adult, and therefore improve their quality of life.

  The omni-directional vehicle of the iRW uses four Mecanum wheels to facilitate movement in all directions, including moving sideways, and with zero radius of rotation. Based on this omni-directional vehicle, mobility assistance functions are design for three different operators: the wheelchair user, caregivers, and the iRW itself performing autonomous behaviors. Five operation modes, all mutually exclusive, are developed: obstacle avoidance, joystick mode, handlebar mode, teleoperation, and indoor navigation. Man-machine collaborative control is reflected in the assignment of priorities to the three operators. Indoor navigation mode, which is a user-configurable indoor navigation system, on the iRW uses a concept similar to the AGV to reduce the operation load on the wheelchair user or care givers in the home environment. QR code labels are deployed on the ceiling as the “virtual AGV track” (navigation rout). The information conveyed by the QR code can be interpreted to generate motion commands to the iRW, so that the iRW follows the virtual AGV track to move to the desired destination. The navigation rout can be easily configured and implemented by the users by deploying QR code labels on the ceiling, and can be altered by simply printing new QR code labels. The user interface and indoor navigation algorithm are implemented as an App in the tablet which can be easily downloaded and updated.


Academic Thesis
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Last Updated:2013/2/10