臺灣博碩士論文加值系統

本論文開發客製化下肢復健機構設計，以協助中風、年老退化、車禍病患的復健需求者，照護復健如自然步態、坐式、立姿、下蹲等特定復健的摩擬人形姿步動作，以達到逐漸下肢復健康復的工作。
透過Vicon攝影鏡頭之運動捕捉動態、分析之設備，完成患者觀察前的紀錄動態與分析，以做為參考客製化機構的幾何設計、與患者做復健動作時，髖關節、膝關節、踝關節及步進伺服馬達、諧波行星齒輪組、足底壓力感測器之間相對運動規律偵測參數。其次，透過設計參數軟體完成助行機構系統的幾何設計、與機構、機件的尺寸客製化設計。再透過動態分析軟體，並將機構、機件之間運動的關係建構正確的接觸 (contact pair) 設定，以完成復健助行機構的運動學(kinematics) 與動力學 (dynamics) 模擬與追蹤分析。最後，再將上述的所有機構，以兩組諧波行星齒輪減速機(harmonic drive)、Maxon 馬達、GALIL多軸運動控制卡，完成單肢兩軸復健助行機構的機電整合系統開發。
本論文分別以(1) LifeMod 生物力學軟體，建構摩擬人形姿步客製化的使用者參數。(2)依軟體之動態追蹤分析所求得髖與膝關節的負荷載重條件，做為步進伺服馬達的選用匹配功率的依據。(3)藉由足底壓力感測板、與人體姿態各種感測器，分別完成復健動作的動態監控與動態摩擬功能。透過上述的設計規劃，可以縮短設計研製週期、提升復健助行機構品質及附加功能價值、增進研發產品的精確度等，有助於產、學、醫界研發復健助行產品的實用性。

This study developed a customized lower extremity rehabilitation mechanism to assist the rehabilitation needs of stroke patients, age degradation patients and injured patients due to accidents. The rehabilitation care includes walking, sitting, standing, squatting and other common postures or movements of a person that could gradually improve the movements of their lower extremity.
Through the motion capturing and analysis of the Vicon camera lens, this study completed the recording and analysis of the patient’s dynamic activities before the observation to serve as a reference for creating a customized mechanism for the geometrical design and rehabilitation movements of the patients such as hip, knee and ankle movements, and the relative movement detection parameters among the step-servo motor, harmonic gears set and plantar pressure sensor. Next, this study completed geometric design and mechanism, and the customized size design of the components of the motion support system using a design parameter softwareThen, construct the correct contact pair setting between the kinematics of the mechanism and component by means of the motion analysis software to complete the kinematics and dynamics simulation and tracking analysis of the rehabilitation support mechanism. Lastly, it completed the mechatronics integrated system development of the single limb-two axis rehabilitation support mechanism by joining the two sets of harmonic drive, Maxon motor and GALIL multi-axis motion control card to the mechanism mentioned above.
This study separately (1) construct the user parameter of customized posture and movement simulation using LifeMod biomechanical software, (2) use the hip and knee load conditions obtained from the dynamic tracking analysis software as the basis for matched power of the step-servo motor, and (3) complete the motion control and simulation functions of the rehabilitation movements through plantar pressure sensing plate and various body posture sensors. Through the above-mentioned design plan, we can shorten the design and development cycles, improve quality and value-added functions, and enhance the accuracy of the product to improve the usability of the rehabilitation support product for the benefit of the industry, academia, and medical industry.

摘要..................................................... i
Abstract................................................ ii
誌謝..................................................... iii
目錄..................................................... iv
表目錄................................................... vii
圖目錄.................................................. viii
第1章 緒論.................................................1
1-1 研究背景與意義..........................................1
1-2 本研究的重要性..........................................2
1-3 國外的研究..............................................6
1-3-1 國內研究 ..........................................17
1-4 下肢外骨骼機器人的關鍵技術...............................18
1-5 主要研究內容..........................................19
第2章 下肢骨骼運動之捕捉原理與分析...........................20
2-1 下肢體運動原理........................................20
2-2 下肢復健方法研究......................................23
2-2-1 中風的康復評斷及治療方法..............................23
2-2-2 脊椎損傷的康復評斷及治療方法..........................25
2-3 下肢外骨骼機構的運動學分析.............................25
2-3-1 運動學分析..........................................26
2-3-2 正運動求解..........................................26
2-3-3 逆運動求解..........................................30
2-3-4 Jacobian矩陣.......................................31
2-3-5 角加速度分析........................................33
2-4 以RecurDyn執行運動分析................................34
2-5 運動捕捉分析系統......................................36
第3章 下肢骨骼意圖向量之分析與感測 ........................43
3.1 下肢外骨骼運動定義....................................43
3.2 轉向轉速分配......................................... 45
3.3 下肢踝關節壓力感測裝置................................58
第4章 復健機構之設計......................................60
4.1 復健機構設計流程.....................................60
4.2 機構設計關鍵技術.....................................63
4.2.1 運動捕捉設備........................................63
4.2.2 生物力學軟體模擬....................................63
4.2.3 復健機構設計........................................65
4.2.4 機構的動力學模擬.....................................66
4.2.5 肢體二維壓力感測器...................................67
4.2.6 足底測力板..........................................69
4.3 復健機構與機電系統...................................70
4.3.1 馬達規格............................................70
4.3.2 減速機規格..........................................70
4.3.3 編碼器..............................................71
4.3.4 驅動器..............................................71
4.3.5 多軸控制器...........................................71
4.3.6復健原型機............................................73
第5章 復健驅動齒輪機構......................................73
5.1 諧波齒輪原理應用分析....................................73
5.2 零齒差微行星諧波齒輪的研究...............................77
5.3 非圓齒輪的共軛理論.....................................79
5.4 數化立方仿線擬合.......................................81
5.5 設計元素與系統組裝圖...................................83
5.6 諧波齒輪應力分析......................................86
第6章 結論與展望..........................................87
6.1 結論................................................87
6.2 未來展望.............................................88
參考文獻..................................................90

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