This dissertation focuses on improving the capabilities of an assistive robotic exoskeleton glove designed for patients with Brachial Plexus Injuries (BPI). The aim of this research is to develop a force control method, an automatic force planning method, and a Human-Machine Interface (HMI) to refine the grasping functionalities of the exoskeleton glove, thus helping rehabilitation and independent living for individuals with BPI. The exoskeleton glove is a useful tool in post-surgery therapy for patients with BPI, as it helps counteract hand muscle atrophy by allowing controlled and assisted hand movements. This study introduces an assistive exoskeleton glove with rigid side-mounted linkages driven by Series Elastic Actuators (SEAs) to perform five different types of grasps. In the aspect of force control, data-driven SEA fingertip force prediction methods were developed to assist force control with the Linear Series Elastic Actuators (LSEAs). This data-driven force prediction method can provide precise prediction of SEA fingertip force taking into account the deformation and friction force on the exoskeleton glove. In the aspect of force planning, a slip-grasp force planning method with hybrid slip detection is implemented. This method incorporates a vision-based approach to estimate object properties to refine grasp force predictions, thus mimicking human grasping processes and reducing the trial-and-error iterations required for the slip- grasp method, increasing the grasp success rate from 71.9% to 87.5%. In terms of HMI, the Configurable Voice Activation and Speaker Verification (CVASV) system was developed to control the proposed exoskeleton glove, which was then complemented by an innovative one-shot learning-based alternative, which proved to be more effective than CVASV in terms of training time and connectivity requirements. Clinical trials were conducted successfully in patients with BPI, demonstrating the effectiveness of the exoskeleton glove. / Doctor of Philosophy / This dissertation focuses on improving the capabilities of a robotic exoskeleton glove designed to assist individuals with Brachial Plexus Injuries (BPI). The goal is to enhance the glove's ability to grasp and manipulate objects, which can help in the recovery process and enable patients with BPI to live more independently. The exoskeleton glove is a tool for patients with BPI to used after surgery to prevent the muscles of the hand from weakening due to lack of use. This research introduces an exoskeleton glove that utilizes special mechanisms to perform various types of grasp. The study has three main components. First, it focuses on ensuring that the glove can accurately control its grip strength. This is achieved through a special method that takes into account factors such as how the materials in the glove change when it moves and the amount of friction present. Second, the study works on a method for planning how much force the glove should use to hold objects without letting them slip. This method combines a camera-based object and material detection to estimate the weight and size of the target object, making the glove better at holding things without dropping them. The third part involves designing how people can instruct the glove what to do. The command can be sent to the robot by voice. This study proposed a new method that quickly learns how you talk and recognizes your voice. The exoskeleton glove was tested on patients with BPI and the results showed that it is successful in helping them. This study enhances assistive technology, especially in the field of assistive exoskeleton glove, making it more effective and beneficial for individuals with hand disabilities.

美國總統歐巴馬自2009年上任後，立即著手將美國的全球戰略重心向亞太地區轉移，同時提出「亞太再平衡」政策指導方針，逐步實現以美國利益為依歸的全球戰略重新布局。2012年美國公布國防戰略指導原則《維持美國的全球領導地位：21世紀國防優先任務》，列出21世紀的國防任務優先順序，文件中提及「戰略再平衡」亦即要發展「空海整體戰」，以反制中共的「反介入／區域拒止」（A2AD)為主要關鍵任務之一，由此可見，美國仍將中共視為亞太地區的重要競爭對手。 回顧美國公開宣稱重返亞洲的戰略布局以來，先後於2010年1月、2011年9月及2015年12月三次對臺軍售，總價值高達140.75億美元。臺灣是美國在亞太地區防衛中共所建構反介入的第一道防線，對美國當然存在重要的軍事意義。就美國「亞太再平衡」與戰略替代方案中，華美共同利益或美方缺漏不足之處，應積極尋求雙方更緊密之軍事合作，以因應共軍「反介入/區域拒止」(A2/AD)能力對其亞太利益威脅，同時兼顧減輕美軍的防衛負擔及信守對盟邦的安全承諾。 在傳統戰爭中，臺灣面對中共之勝算極低，但我國絕無鬆懈建軍備戰之理由，而建構一個「財力可負擔、戰力可信賴」的國防，亦是國軍當前的重大挑戰。研究發現，在結合美國「亞太再平衡」策略中，我國應朝1.強化國家利益經營對美關係；2.結合區域安全發展國防武力；3.加強整合國防資源及推動國防自主等面向努力。在無立即危安的情況下，國防建設宜結合國家經濟發展需要，即「以經濟建構國防、以國防支援經濟」，把軍事投資轉型為具附加價值的產業發展策略，並著重在前瞻先進與軍民兩用的科研上，促進武器更新，減少偏重消費性質的武器彈藥採購，以提升國防自主能力，帶動國內產業發展，創造國防的多元價值。 / Since President Obama took over the oval office in 2009, immediate actions are taken to pivot U.S. global strategy emphasis to Asia Pacific area and “Rebalancing” policy was introduced. The idea was to realize the re-plotting of global strategy which is centered on U.S. interest. The priorities of defense mission for U.S. in 21st century was clearly listed in 2012 defense strategy guidance “Sustaining U.S. Global leadership: Priorities for 21st century defense.” When the document talked about “Strategy rebalancing”, it actually talked about Air-Sea battle(ASB), which is one of the critical mission in countering China’s A2AD measures. Hence we can see that U.S. still sees China as her primary competition in Asia Pacific area. Since the proclamation of “Pivot to Asia” strategy, U.S. has granted Taiwan’s arms sales requests in Jan 2010, Sept 2011, and Dec 2015 for a total worth of 14.075 B USD. Taiwan no doubt has great military meaning to U.S. for which is considered as U.S.’s first line of defense in Asia Pacific area when dealing with China. As for the strategic alternative and U.S.’s “Rebalancing” policy, closer military cooperation should be conducted to fulfill the mutual interest of Taiwan and U.S. or the missing link in U.S. strategy. So is to cope with the threat that inflicted by China’s anti-access / area denial" (A2 / AD), ease U.S. defense burden, and comply the security promise to allies. In conventional warfare, the odd is against Taiwan greatly when confronting China. However, that is not the reason to go easy on force building and enhancing combat readiness. Certainly, it is a big challenge to Taiwan’s arms forces when comes to constructing “financial affordable, force creditable” national defense. The study has shown, when integrate with U.S. “Rebalancing” policy, Taiwan should work toward 1. emphasize national interest and nourish the relationship with U.S.; 2. develop defense capability to cope with regional security situation; 3. increase defense resources integration and promote “self-reliant defense”. Under the condition of without immediate danger, national defense construction should combine with the need of national economy development. That means “use economy to build national defense, and use national defense to support economy development”. Military investment can be transformed into industry development strategy added value. The focus should be fore sighting and advance science research that can be applied on both military and civilian domain. We should stimulate weapon innovation instead of weapon or munitions procurement which is plain consuming nature. Hence, self-reliant defense capability can be improved, domestic industries development can be driven, and multiple values of national defense can be created.