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研究生:林世偉
研究生(外文):Shi-Wei Lin
論文名稱:設計及發展一套機器手臂系統模擬關節鬆動術
論文名稱(外文):Design and Develop A Robotic Manipulator for Simulating Translational Mobilization Technique
指導教授:張冠諒張冠諒引用關係蔡清元蔡清元引用關係徐阿田徐阿田引用關係
指導教授(外文):Guan-Liang ChangTsing-Iuan TsayAr-Tyan Hsu
學位類別:碩士
校院名稱:國立成功大學
系所名稱:醫學工程研究所碩博士班
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:2003
畢業學年度:91
語文別:英文
論文頁數:66
中文關鍵詞:生物力學模擬關節鬆動術機器手臂
外文關鍵詞:robotic manipulatortranslational mobilizationsimulatingbiomechnics
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為治療關節活動不良或夾擠症候群的患者,關節鬆動術是骨科物理治療師所廣泛使用的。而過去關於此的文獻也指出此治療術在施行和量測時總會遭遇到不同時段與不同測試者間之變異性過大的問題。其中臨床量測工具與物理治療師執行時所產生準確性與可信性不足的缺陷可由一高準確性與可重複性之機器手臂取代,以降低臨床研究時量測變數之變異性。
因此,設計及發展一套機器手臂系統,用來模擬關節鬆動術是我們研究的最終的目的。而在目前的研究中,我們主要專注在設計與製造,並進行初步的測試。設計的過程中,除了決定機構形式、各軸扭矩、馬達容量以及各連桿的尺寸結構外,在製造的過程時,我們仍需不斷的解決突如其來的問題。而在初期的實驗中,主要是以機器手臂的測試和肩部關節試件為主,主要是為了印證我們所製造的機器人,其可行如何。而其中還有許多缺點尚需解決,在未來的研究中,我們會以控制系統的發展為主要的路線,進而應用在生物力學上。
Mobilization techniques are frequently used by physical therapists, osteopaths and orthopedic surgeons to treat joints with limited range of motion (ROM) and impingement syndrome. However, the theories behind translational joint mobilization have not been proven empirically and more regarded as a therapeutic art rather than therapeutic science.
Although clinical efficacy studies will provide the ultimate answer to the question shrouding the usefulness of the joint mobilization/manipulation techniques for joint hypomobility, however, it is plagued by numerous pitfalls and the resultant large inter-subject and inter-session variability. The source of error attributable to the examiner, however, could be reduced with the use of a robotic manipulator to simulate the movement of the therapist. The purpose of this research is to design and develop the robotic manipulator system to practice the translational mobilization technique.
The design process, we need to validate the mechanism type, to decide the parameter about the torques in each joint, the mechanical structures and dimensions of each link, the transmission design, and all of the sensors in this robotic manipulator etc. Besides this, we must solve any thing about robot design when manufacturing the robotic manipulator. In the experiment, the robot test and specimen test are to prove that the robotic manipulator could be used in simulating the translational mobilization. In the future work, we will devote every effort to develop our control system.
中 文 摘要..............I
ABSTRATCT...............II
致 謝...................III
CONTESTS................IV
LIST OF TABLES..........VII
LIST OF FIGIRES.........VI
Chapter 1 Introduction....................................1
1.1Joint Mobilization....................................2
1.2Robotic Background and Development...................4
1.3Robotic Manipulator in Biomechanics..................6
1.4Motivation and Purpose...............................8
Chapter 2 Robotic Manipulator Design........................10
2.1Robotic Design.......................................10
2.1.1Introduction.........................................10
2.1.2The Necessary for Translational Mobilization.........11
2.1.3Joint Torque.........................................14
2.1.4Motor Capacity.......................................17
2.1.5Structure of Link....................................17
2.1.6Transmission Type....................................18
2.1.7Peripheral Sensor....................................18
2.2Defining Coordinate and Analysis.....................19
2.3Kinematic Equation...................................23
2.4Inverse Kinematic Equation...........................25
Chapter 3 Material and Method...............................30
3.1Robotic Manipulator System...........................30
3.1.1Robotic Body.........................................31
3.1.2System Box...........................................32
3.1.3Interface System.....................................32
3.1.4Universal Force Sensor...............................33
3.2Universal Force Sensor Calibration...................36
3.3Robotic Manipulator Test.............................38
3.4Specimen Test........................................40
Chapter 4 Result and Discussion.............................43
4.1The Robotic Manipulator..............................43
4.1.1The Belt Transmission Device.........................43
4.1.2The Robot Specifications.............................45
4.2The Result of Universal Force Sensor Calibration.....49
4.3The Robot Test.......................................51
4.4The Specimen Test....................................55
Chapter 5 Conclusion and Future Work........................56
REFERENCES...................................................57
APPENDIX.....................................................61
自述
著作權聲明
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