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研究生:簡志偉
研究生(外文):Chih-Wei Chien
論文名稱:具動態支撐性助行器之研發
論文名稱(外文):Development of Intelligent Walker With Dynamic Supportably
指導教授:游忠煌
指導教授(外文):Chung-Huang Yu
學位類別:碩士
校院名稱:國立陽明大學
系所名稱:物理治療暨輔助科技學系
學門:醫藥衛生學門
學類:復健醫學學類
論文種類:學術論文
論文出版年:2009
畢業學年度:97
語文別:中文
論文頁數:98
中文關鍵詞:助行器動態支撐性助行輔具超音波測距
外文關鍵詞:walkerdynamic supportwalking aidultrasonic range finding
相關次數:
  • 被引用被引用:3
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走路是人基本的能力,使每個人能獨立自者的活動。但對步行能力受損者卻非常困難,因此常藉由助行器幫助行走。但目前傳統的純機械式助行器或學術研究的機電型助行器仍然有許多缺點,無法在靜態及動態下同時兼具支撐的效果。其中大日方的助行器,以固定使用者與助行器距離的策略相當聰明,但其固定身體的參考點與機構設計仍有缺失,因此本研究之目的為改善其缺點,研發具動態支撐性的助行器,並進行臨床驗證。
觀察使用者使用助行器發現,腳踝與助行器位置有某一相對的關係,因此固定使用者兩腳踝中心與助行器間的距離為控制策略。另外透過動力傳動裝置與全向輪特性,使助行器有良好支撐性與轉彎效果。
實驗結果顯示,本研究助行器在平地可承受最大前後水平推力為58.3牛頓,四輪助行器僅約10牛頓。而在各種不同路面情況本研究助行器可提供最大推力為四輪助行器的5~8倍。而側向水平支撐力最大也可達84牛頓。另外在轉彎測試,本研究助行器與四輪助行器使用者移動軌跡的內切圓直徑大致相同約在12~13.1公分間。大幅改善大日方轉彎須側向移動問題。臨床驗證亦發現,目前似乎對於平衡能力差的患者以四腳助行器距離控制模式有顯著省力效果。但對於能力佳的患者則無明顯幫助。
Walking as a basic ability of human beings enables independent activities for individuals. For people with walking impairment, however, walking can be very difficult and often requires the use of walker. Most mechanical or mechanical-electrical walkers available today have come with various defects and failed to offer satisfactory movement support. The design strategy based on fixed distance between user and walker, as proposed by Goro, has a good potential for implementing an ideal walker, but it still had some problems in terms of reference points to the human body and its framework design. Consequently, the purpose of this research is to solve these problems by developing a walker with dynamic support functionality, to be followed by performing further clinical test to validate its applicability.
In this study, a specific relationship was identified between human’s ankle and walker’s position. Consequently, the distance between ankle and walker was detected and then used to control walker movement. Furthermore, powered transmission device and omni-directional wheels were utilized to ensure sturdy support and good turn functionality.
Results of experiments in this study indicated that the maximum of pushing forward force of this new walker was 58.3N, or 5-8 times as high as a 4-wheeled walker, and its pushing lateral force was up to 84N. In terms of turn functionality, the new walker had a radius range of 12-13.1 cm, which was same as that of the 4-wheeled walker, thus indicating an improvement in turn functionality compared to Goro’s walker. Clinical verification also found a significant positive effect of effort saving for patients with serious balance problems.
致謝.................................II
中文摘要.............................III
Abstract.............................IV
目錄................................VI
圖目錄..............................VIII
表目錄..............................XI
第1章 緒論.......................- 1 -
第2章 文獻回顧...................- 7 -
2.1 傳統式助行器.................- 7 -
2.1.1 腳式助行器.................- 7 -
2.1.2 輪式助行器.................- 9 -
2.1.3 腳式、輪式助行器...........- 11 -
2.2 機電型助行器.................- 13 -
2.2.1 日本大日方.................- 13 -
2.2.2 義大利Angelo...............- 15 -
2.2.3 日本Oscar..................- 16 -
2.2.4 台大醫工所楊涵馨之研究.....- 17 -
2.2.5 北科大康展銘之研究.........- 18 -
第3章 系統原理架構與開發.........- 20 -
3.1 系統原理.....................- 20 -
3.2 系統設計概念.................- 22 -
3.3 系統架構.....................- 23 -
3.4 系統運作流程..................- 24 -
3.5 系統開發......................- 25 -
3.5.1 距離量測....................- 25 -
3.5.1.1 超音波特性.................- 25 -
3.5.1.2 超音波發射端硬體架構.......- 27 -
3.5.1.3 超音波接收端硬體訊號處理...- 31 -
3.5.1.4 發射器與接收器運作順序與投影距離計算法- 33 -
3.5.1.5 超音波接收器擺放位置策略....- 36 -
3.5.2 距離控制策略..................- 38 -
3.5.3 PSoC控制器與系統電路......- 40 -
3.5.4 動力傳動裝置..................- 41 -
3.5.5 承重支架......................- 43 -
第4章 超音波測距功能驗證............- 45 -
4.1 驗證方法........................- 45 -
4.2 驗證結果........................- 53 -
4.3 分析與討論......................- 60 -
第5章 系統測試與結果................- 63 -
5.1 支撐性..........................- 63 -
5.1.1 儀器架設......................- 63 -
5.1.2 結果..........................- 65 -
5.2 轉彎............................- 73 -
5.3 臨床測試........................- 75 -
5.3.1 實驗設計......................- 76 -
5.3.2 施測流程......................- 77 -
5.3.3 結果..........................- 78 -
5.3.3.1 個案A.......................- 78 -
5.3.3.2 個案B.......................- 81 -
第6章 問題分析與討論................- 83 -
6.1 支撐性..........................- 83 -
6.2 轉彎............................- 84 -
6.3 臨床測試........................- 85 -
6.3.1 個案A.........................- 85 -
6.3.2 個案B.........................- 86 -
第7章 結論與未來工作................- 88 -
參考文獻...............................- 90 -
附錄一 超音波型錄....................- 92 -
附錄二 H-Bridge規格表................- 93 -
附錄三 步進馬達驅動器規格表..........- 94 -
附錄四 受測者問卷表..................- 96 -
附錄五 Timed, Up, and Go Test (TUG)施測流程- 97 -
附錄六 自覺疲勞指數表..................- 98 -
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