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研究生:林昌震
研究生(外文):Lin, Chang-Jenn
論文名稱:發展力量與位移感測回饋控制之動態輔助裝具-改善第5、6節頸椎損傷患者手的抓握功能
論文名稱(外文):Hand Grasp Control by Force and Position Feedback for the C5/C6 Spinal Cord Injuried
指導教授:鍾高基鍾高基引用關係
指導教授(外文):Kao-Chi Chung
學位類別:碩士
校院名稱:國立成功大學
系所名稱:醫學工程研究所
學門:工程學門
學類:綜合工程學類
論文種類:學術論文
論文出版年:1998
畢業學年度:86
語文別:中文
論文頁數:70
中文關鍵詞:動態副木手功能缺損感測回饋脊髓損傷
外文關鍵詞:Dynamic SplintImpaired Hand FunctionSensors FeedbackSpinal Cord Injury
相關次數:
  • 被引用被引用:1
  • 點閱點閱:341
  • 評分評分:
  • 下載下載:0
  • 收藏至我的研究室書目清單書目收藏:1
中文摘要脊髓損傷(SCI)族群中,以C5/C6 level受損的患者最多。患者由
於手部控制精細動作的功能性缺損,因此只能執行空間的移動定位,手肘
的屈曲,肩膀的控制,而無法執行日常生活中常用的抓握動作,因此需要
旁人的協助及照顧,往往造成社會人力資源的浪費。國外已有專家學者發
展功能性電刺激(FES)之手部抓握輔助系統;反觀國內,相關的復健科技
及輔具設計產品相當缺乏。本研究的目的是針對C5/C6 SCI患者,設計發
展一套具臨床效益之外加動力方式之手部動態輔助系統,以提供患者手部
抓握物體之功能,改善其日常生活的獨立性和生活品質。研究設計方法為
外加馬達動力的輔助裝具,配合現代微處理器的可程式化設計與使用者個
人化參數之考量,經由線性控制理論和感測器的回饋,並利用手部抓握動
作之簡化等效彈簧機械模型,輔以控制法則,以驅動控制手部抓握和釋放
動作,整合手部抓握功能輔助系統。本系統主要構成元件包括:電力供應
和電位偵測電路、輸入控制器、8X196單晶片控制器、直流馬達及驅動電
路、傳動機構與副木、力量感測器、位移感測器。軟體控制法則利用彈簧
等效模型,混合對掌指間距離和物體接觸力以及個人肌肉張力,提供驅動
馬達的輸入誤差訊號,經由脈波寬度調變(PWM)方式控制馬達轉速而驅動
機構。使用者只須控制輸入開關,至於抓握力量的控制則藉由系統抓握判
斷和滑動判斷法則決定,以自主調節不同物體所需的抓握力。系統臨床測
試實驗:上肢輕度痙攣的C6 complete SCI男性患者,以對側手肘之伸直
動作,控制輸入開關按鈕,利用手肘的屈曲和旋外動作,將物體拿起移近
至嘴巴,達成抓握物體的功能性活動。實驗結果顯示本系統之功能性表現
完全符合預期的設計目標,可提供C5/C6 SCI患者有效的手部功能性之輔
助科技。本土化的殘障科技與相關輔具之研發尚屬萌芽階段,目前國內仍
欠缺自行開發的功能性輔助動態副木系統。研發輔助手部抓握功能的復健
產品設計,可廣泛地應用在復健醫療領域。希望經由本研究發展設計的回
饋控制之動態輔助裝具,除了代償患者手的抓握功能外,還可應用在復健
醫療,提供手部抓握功能性動作之訓練、運動、和評估等。
Abstract The occurrence of injury level at C5/C6 is
approximately accounted for 20% of the overall SCI (Spinal Cord
Injury). The C5/C6 patient have usually limited to their hand
residual function with positioning in space, but without
voluntary control of grasp and release. This have resulted in
functional dependence and often need of care-givens in daily
livings, in which holding and moving objects such as pencils,
books, cups, and telephone, are almost impossible. This
development research was to design a powered hand grasp control
system with assistive technology to improve functional
independence and the quality of life for the C5/C6 SCI. Although
hand grasp control devices by functional electrical stimulation
or other methods have been developed at the Western world, there
is almost none in our domestic counterpart. In this
rehabilitation aided technology research, the powered hand
grasp control system was designed and developed by using modern
mechatronics methodology and technology through integrated
digital microcontroller, DC motor and driver control, position
and force sensors and feedback control, spastic hand muscle and
joint stiffness, simple spring mechanical model for linear
control, decision rules and parameters for grasping an object
and then releasing(e.g. position, contact force), feedback input
control, individual patient-specified function parameters,
interface consideration and programmable algorithm. The
system consists mainly of : power supply/level sensing circuit,
input controller, 8x196 microcontroller, DC-motor/driven
circuit, transmission mechanism and hand splint, force and
position sensors. Contact force during grasping and holding
objects with different sizes/material properties is manipulated
by a linear control algorithm. To operate this system, the user/
patient is expected to turn it on via an on/off switch. After
the system assembly and completion of system function testing
with extra safety consideration, a pilot field testing of the
system was conducted by a C6-complete SCI patient for clinical
implementation. During the testing process, it was demonstrated
that the patient initially used elbow extension to press the on/
off switch, then the grasping action was followed and a cup was
hold and raised to near his mouth by elbow flexion and
supination, and finally the cup was put down and released
through reverse procedure. The results have shown the evidence
that the prototype design seems to be cost-effective for
improved hand grasp/release function. Design and development
of rehabilitation technology and assitive devices is very new in
our domestic medical industries. The research and development of
dynamic orthosis is strongly demanded for C5/C6 SCI. This
dynamic assistive orthosis using feedback control not only
improve the hand grasp function, but also is valuable in
providing practice, exercise, and hand grasp function
evaluation in rehabilitation.
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