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研究生: 林和儒
Lin, He-Ru
論文名稱: 模糊樹突狀神經元模型控制應用於下肢復健機器人系統
Lower Limb Exoskeleton Rehabilitation System Using Fuzzy Dendritic Neuron Model Control
指導教授: 陳瑄易
Chen, Syuan-Yi
蔣欣翰
Chiang, Hsin-Han
學位類別: 碩士
Master
系所名稱: 電機工程學系
Department of Electrical Engineering
論文出版年: 2020
畢業學年度: 108
語文別: 中文
論文頁數: 119
中文關鍵詞: 單桿氣壓缸開關閥比例積分微分(PID)控制器模糊類神經網路(FNN)模糊樹突狀神經元模型(Fuzzy-DNM)
英文關鍵詞: pneumatic cylinder, solenoid valve, Proportional-integral-derivative (PID) controller, Dendritic Neuron Model (DNM), Dendritic Neuron Model (Fuzzy-DNM) controller, Proportional-integral-derivative controller
DOI URL: http://doi.org/10.6345/NTNU202001365
論文種類: 學術論文
相關次數: 點閱:150下載:0
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  • 誌謝 i 摘要 ii ABSTRACT iii 目錄 v 第一章 緒論 1 1.1 研究背景與動機 1 1.2 文獻回顧 5 1.3 研究方法 7 1.4 章節架構 8 第二章 氣動式下肢復健機器人 10 2.1 整體系統架構 10 2.2 氣壓供給系統 12 2.2.1 空壓機系統 12 2.2.2 三點式空氣調理組合 13 2.3 氣動式下肢外骨骼系統 14 2.3.1 開關電磁閥 15 2.3.2 不鏽鋼單桿氣壓缸 16 2.3.3 相對式編碼器 17 2.4 嵌入式系統 18 2.4.1 NI myRIO 18 2.4.2 工業隔離數位I/O模組 20 第三章 運動學及氣動系統數學模型分析 22 3.1 人體步態分析 22 3.2 正向運動學分析 24 3.3 逆向運動學分析 28 3.4 氣動系統數學模型 30 第四章 控制器原理介紹與設計 34 4.1 氣動差動式控制演算法設計 34 4.2 模糊類神經網路 38 4.3 樹突狀神經元模型 41 4.4 模糊樹突狀神經元模型 44 第五章 實驗結果與討論 50 5.1 實驗平台設計 50 5.2 步態單關節角度追蹤實驗結果 51 5.3 步態雙關節同動角度追蹤實驗結果 72 5.4 步態雙腳同動角度追蹤實驗結果 85 5.5 演算法性能指標分析 102 第六章 結論及未來展望 109 參考文獻 110 自傳 118 學術成就 119

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