臺灣博碩士論文加值系統

人體關節之生物力學研究通常包括評估關節勁度及內部各組織的受力分布，雖然目前已有許多方法可用以量測關節及其內部組織之力學特性，如植入感應器、關節評估儀器、電腦模擬等。但是由於人體關節運動具有多自由度，且組織有幾何及材料的非線性，因此要如何模擬人體關節實際受負載情形及運動路徑並量測到內部組織的受力分布一直是生物力學領域中一大挑戰。本研究之目的係以工業用機械手臂為基礎發展一套關節測試系統，並透過電腦模擬先行建立一穩定且快速的控制方法，再整合至關節測試系統之控制介面，以進行關節生物力學之研究。
此關節測試系統係利用機械手臂來控制關節的六個自由度運動，同時在機械手臂末端效應器上安裝六軸力規以推算取得關節受力，並自行開發一控制介面加以統整系統之軟、硬體以利控制。本研究除了關節測試系統的架設外，亦利用一三維膝關節模型進行控制方法之電腦模擬，並整合至關節測試系統之控制介面，以提供系統更穩定且快速的控制程序。
藉由膝關節模型之電腦模擬與測試系統之動物實驗，以比較三種控制方法之穩定度與速度，已成功建立一穩定且快速之控制方法。並由動物實驗的結果驗證關節測試系統及控制方法之可行性。
此系統在生物力學的應用方面主要有兩大功能。第一，此系統可以量得關節在力量控制下的運動軌跡，觀點近似於臨床上的理學檢查。第二，此系統亦可執行重複關節運動路徑，並同時量得該運動路徑下的關節受力，進而利用力學的疊加定理求得關節內部組織的原位力。因此，以機械手臂發展關節測試系統以精確量測關節之運動學及力動學資料，將有助於了解關節的勁度表現及內部組織在關節運動中的功能與貢獻。

Joint biomechanics often aims at determining the joint stiffness and the contribution of the soft tissues in terms of load and strain. Many methodologies have been applied to measure the mechanical properties of joints and soft tissues, e.g. implanted transducer, arthrometer, computer modelling. Nevertheless, it remains difficult to simulate the loading conditions applied to the joints since joint motion is multi-degree-of-freedom and joint is geometrically and materially nonlinear. The purpose of this study is to develop a Robot-based Joint Testing System（RJTS）and integrate a stable and fast control method established in computer simulation into the RJTS.
The robotic manipulator can control the 6-DOF joint motion accurately and combine a 6-axis load cell mounted on the end effector of robot to measure the loads. In order to integrate the RJTS, the control methods developed in computer simulation were integrated into the RJTS interface coded in Visual Basic to perform the 6-DOF position/force-moment control.
The stability and speed of three control methods were compared in computer simulation and animal experiment. Moreover, the integrated RJTS interface can perform a reliable 5-DOF AP translation test, and those results can be used to validate the feasibility and reliability of the control methods and RJTS.
To measure the path of joint motion under a specific loading condition and to reproduce a path combining the measurement of simultaneous loads are the two main functions of the RJTS. Since RJTS is capable of measuring the kinematic and kinetic data of joints accurately and the in situ force of the sectioned soft tissue by the principle of superposition, which is helpful to measure the joint stiffness and understand the function and mechanical contribution of soft tissues.

中文摘要 i
英文摘要 ii
目錄 iii
表目錄 v
圖目錄 vi
第壹章 簡介 1
第一節 研究動機 1
第二節 膝關節之功能解剖構造 2
第三節 文獻回顧 6
一、 關節勁度之評估 6
二、 量測韌帶受力的方法 8
三、 機械手臂/六軸力規測試系統 9
第四節 研究目的 11
第貳章 實驗設備與材料 13
第一節 硬體 13
第二節 軟體 19
一、 系統控制介面 19
二、 膝關節電腦模型 20
第三節 膝關節試件 21
第參章 控制理論與實驗流程 23
第一節 座標系統之定義 23
第二節 膝關節運動及關節角度、位移之定義 26
第三節 關節的位置控制 28
一、 局部座標系統微小運動之數學推導 29
二、 局部座標系統經微小運動後之齊次轉換矩陣 32
三、 關節微小運動之控制 33
第四節 關節的力量控制 34
一、 機器人學理論之應用 35
二、 關節力量之轉換 37
三、 順從矩陣之決定以控制關節力量 37
第五節 關節位置和力量的混合控制 40
第六節 不同控制方法之介紹與比較 40
一、 混合式控制 42
二、 交替式控制 43
三、 混合式控制加力量控制 44
第七節 實驗步驟 45
第肆章 結果與討論 46
第一節 電腦模擬控制方法之結果與比較 46
一、 力量控制之可行性 46
二、 關節中性位置之決定 48
三、 三種控制方法之結果比較 49
四、 關節力量控制下之前拉測試軌跡 52
第二節 動物實驗之結果 55
一、 關節中性位置之決定 55
二、 三種控制方法之比較 56
三、 關節力量控制下之前拉測試軌跡 60
第三節 討論 60
第伍章 總結 62
第一節 結論 62
第二節 未來方向 63
附錄A、雅可比轉換矩陣之推導 65
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