臺灣博碩士論文加值系統

在臨床上，下肢癱瘓和半骨盆/髖離斷截肢病患在臨床上的治療是最具挑戰性的議題，不論是交替式步態矯具還是加拿大式義肢，相對於膝關節，兩者的髖關節機構皆急需創新設計。交替式步態矯具的髖關節機構為一鉸鏈機構，這種設計造成只提供人體髖關節屈曲/伸展方向的運動，而不提供內翻/外轉(internal/external rotation)以及內收/外展(adduction/abduction)的運動，如此的限制導致穿戴矯具行走時，無法像正常步態一般作出骨盆旋轉的運動，進而產生非必要的補償動作。本研究的目的即針對交替式步態矯具髖關節的耦合比機構進行創新設計，實現可在站立中期自動轉換耦合比的機構。過程中利用Lagrange方程式建立的簡易人體模型，並使用代入不同的肢段初始條件所得參數所顯現的特性，進一步設計出能確實使髖關節達到高耦合比的新機構。予以實體化後，接著用模擬與影像處理方法檢驗理論以及實驗之髖關節耦合比例。結果顯示在合理的擺動範圍內，新機構的耦合比符合預期。透過正常受試者穿上1:1機構的步態實驗結果，我們認為此不正常的拘束很可能是造成病患步行速率與步幅無法有效增加的原因之一。最後我們對原型機構現有的問題提供建議，讓後續設計者研發之機構更加成熟與穩定。

The main purpose of this research is to design a set of hip flexion-extension coupling ratio mechanism for paraplegic and HD/HP patients. In clinical experiences, the treatment for paralysis of lower extremities and HD/HP patients is the most challenging issue. Compared with knee joint mechanism, the hip joint needs novel design in priority. The hip mechanism of reciprocating gait orthosis (RGO) can only apply flexion/extension motion. The limitation leads to patients’ compensatory movement. So the mechanism needs to have the ability to adjust higher flexion-extension coupling ratio(FECR) automatically for different phases. First, we use Lagrange equation to establish simple human model. By substituting different initial conditions, the solution can be used to design higher hip coupling ratio mechanism which is better than conventional mechanism. In practical application, we investigate the real coupling ratio and the influence of 1:1 coupling ratio mechanism on normal people by motion analysis method. We find that the abnormal constrain may be one of the main reason of slow walking speed. Finally, we give suggestions for more mature mechanism which can work stably on subjects in the future.

誌謝 I
摘要 II
Abstract III
目錄 IV
圖目錄 VII
表目錄 XII
第一章 緒論 1
1.1 研究背景 1
1.2 文獻回顧與探討 4
1.3 研究動機與目的 10
1.4 本文架構 12
第二章 基本步態理論 13
2.1 名詞解釋 13
2.2 基本步態介紹 15
2.2.1 步態週期 15
2.2.2 人體生理(解剖)平面 16
2.2.3 髖關節耦合比 19
2.3 兩大步態理論與耗能研究 21
第三章 質心與Lagrange equation 24
3.1 質心位置之比較 24
3.2 動力學人體模型 26
3.2.1 建模方法 26
3.2.2 初始條件 29
3.2.3 結果 30
3.3 討論 31
第四章 現有機構與新設計 35
4.1 現有機構介紹 35
4.2 新設計 39
4.2.1 雙支點設計 39
4.2.2 滑槽塊設計 42
4.2.3 支點受力分析 43
4.3 元件選用 44
4.3.1 電磁鐵與微動開關 45
4.3.2 扁線壓縮彈簧 47
4.3.3 其他元件 49
4.4 最終設計與機構雛型 52
4.5 討論 55
第五章 動作分析原理與實驗方法 58
5.1 動作分析原理 58
5.1.1 力板資料處理 58
5.1.2 標記點資料處理 60
5.1.3 關節角度與角速度 62
5.1.4 關節受力與力矩 64
5.2 實驗設備與準備程序 67
5.2.1 實驗設備 67
5.2.2 標記點配置 69
5.2.3 建立坐標系 70
5.3 實驗規劃 75
5.3.1 機構耦合比之檢驗 75
5.3.2 步態實驗 75
第六章 結果討論 78
6.1 結果 78
6.2 討論 81
6.2.1 耦合比檢驗 81
6.2.2 步態實驗 81
6.2.3 高耦合比機構之改善 83
第七章 結論與未來研究方向 85
7.1 結論 85
7.2 未來研究方向 85
參考文獻 86
附錄一 零件表 90
附錄二 加工件工程圖 92

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