臺灣博碩士論文加值系統

為了研發手動器械並預估其操作時的效果，許多人致力於發展一套更準確且可靠的上肢骨骼肌肉模型及其分析模式。本研究嘗試提出一包含肩帶、肱骨、橈骨、尺骨與手部之骨骼肌肉模型，並進而建立其位移分析、肌肉長度分析及肌力分析等模式，以期能針對上肢在操作各式器械時，有更準確而可靠的設計與分析模式。
本研究提出以SSCp-S-SUCr-UR空間機構模擬手推輪椅的模型；又以SSCp-S-SUCr-U空間機構模擬上肢帶動復健機械手之運動。接著分別以齊次坐標轉換矩陣及迴路方程式推導其位移分析方程式，且利用一影像量測系統追蹤上肢在運動過程中，各關節之位置，並以其當作輸入，進而進行運動分析。
另外，參考前人所提供共35個上肢肌群的數據，並且針對肌肉參數進行正規化，及使用Obstacle-set方法，建立在運動過程中其路徑與長度之分析模式。接著，加入適當之限制條件讓肌力的作用能使關節結合，再配合Hill肌力模型建立可分析上肢肌力與關節負荷之二次規劃的分析模式。最後分別將此模式分別應用於上肢以三種速度驅動輪椅與模擬上肢以三種速度帶動復健機械手的實例分析，而分別說明各分析模式的使用及顯示各分析所得之結果；此外，於實例分析的過程中，不僅分別加入一彈力繩，以提供適當而可量測的阻力，又針對4主要肌群擷取8個EMG訊號，並與肌力分析結果進行比較，以驗證其合理性。另外，也根據在不同速度下所量得的EMG訊號，探討互為拮抗肌間的共同收縮現象。
本文所提出的模型及所建立的各種分析模式，應有助於進一步建立更完整的上肢骨骼肌肉模型；對於醫療器材、上肢輔具以及手動器械之設計與研發亦應有其參考價值。

For the development of hand-operating apparatuses and investigating their effects, many musculoskeletal models of the upper limb were given in existing reports. The purpose of this study is to propose a musculoskeletal model including the shoulder girdle, humerus, radius, ulna and hand, then, to develop models for its motion, muscular length and muscle force analyses so as to construct more precise and reliable design and analysis models during operating various devices with upper limbs.
The SSCp-S-SUCr-UR spatial mechanism and the SSCp-S-SUCr-U spatial mechanism are proposed to simulate an upper limb propelling a wheelchair, and driving a rehabilitation robot, respectively. The homogeneous coordinate transformation and loop-closure equations are applied to derive the displacement analysis equations. A 2-camera tracking system is applied to measure the positions of the joints during the upper limb movements, and these data are used as the inputs for the kinematic analysis.
In order to build the analysis models of muscle paths and their lengths during the motions, parameters of 35 muscles of upper limb collected by former researchers are applied; also, a normalize method is proposed for scaling the bone and muscle parameters, and the obstacle-set method is adopted. Based on the Hill-type muscular model and considering constraints to avoid joint-separation, the models for the muscle force and joint load analysis are developed as quadratic programming forms. Finally, an upper limb propelling a wheelchair and operating a rehabilitation robot with three different speeds are used as examples, to show the usages of the developed models and to display the analysis results. Furthermore for each example, an elastic rope is applied to provide an appropriate and measurable resistance force, and 8 EMG signals of main muscles are measured and compared with those calculated by using the models, so as to verify the usability of the proposed models. In addition, the co-contraction of antagonists is discussed based on measured EMG signals in different speeds.
The musculoskeletal models and the analysis methodologies proposed in this study may give aids on further design and development of various apparatuses, such as medical instruments, upper limb assisting devices and hand tools, etc.

摘要 i
英文摘要 ii
誌謝 iii
目錄 iv
表目錄 viii
圖目錄 xii
符號說明 lv
第一章 前言 1
1-1 研究動機 1
1-2 文獻回顧 1
1-2-1 上肢驅動輪椅理論模型 1
1-2-2 復健機械手 4
1-2-3 肌肉路徑及肌力分析模型 6
1-2-4 上肢肌肉骨骼模型 8
1-3 研究目的及方法 13
1-4 本文內容 13
第二章 上肢骨骼關節模型及其位置分析 15
2-1 上肢骨骼及關節模型 15
2-2 位置分析 16
2-2-1 手推輪椅 17
2-2-2 模擬上肢帶動復健機械手 27
2-3 實例分析 33
2-3-1 手推輪椅 33
2-3-2 模擬上肢帶動復健機械手 42
2-4 本章小結 53
第三章 肌肉長度與等長肌力分析 54
3-1 肌肉相關參數之正規化 54
3-2 實例分析 55
3-2-1 肌肉相關參數 55
3-2-2 未繞經障礙物 57
3-2-2-1 手推輪椅 57
3-2-2-2 模擬上肢帶動復健機械手 58
3-2-3 球演算法 58
3-2-3-1 手推輪椅 59
3-2-3-2 模擬上肢帶動復健機械手 61
3-2-4 單圓柱演算法 62
3-2-4-1 手推輪椅 62
3-2-4-2 模擬上肢帶動復健機械手 63
3-2-5 雙圓柱演算法 64
3-2-5-1 手推輪椅 64
3-2-5-2 模擬上肢帶動復健機械手 66
3-2-6 球筒演算法 67
3-2-6-1 手推輪椅 67
3-2-6-2 模擬上肢帶動復健機械手 68
3-3 本章小結 69
第四章 肌力與關節負荷分析 70
4-1 理論模式 70
4-1-1 手推輪椅 70
4-1-2 模擬上肢帶動復健機械手 78
4-2 肌電訊號之量測 79
4-2-1 肌電訊號之正規化 80
4-2-2 肌電訊號之訊號處裡 83
4-3 實例分析 83
4-3-1 手推輪椅 84
4-3-2 模擬上肢帶動復健機械手 100
4-4 本章小結 115
第五章 結論與建議 117
參考文獻 120
附錄A 人體上肢骨骼與肌肉 130
A.1 骨骼與關節 130
A.2 肌肉 135
A.3 肌肉與動作 143
附錄B 空間點位置之量測 147
附錄C 位置分析結果 153
C.1 手推輪椅 153
C.1.1 歷時約3秒的位置分析結果 154
C.1.2 歷時約6秒的位置分析結果 157
C.1.3 歷時約9秒的位置分析結果 162
C.2 模擬上肢帶動復健機械手 167
C.2.1 歷時約4秒的位置分析結果 167
C.2.2 歷時約6秒的位置分析結果 171
C.2.3 歷時約8秒的位置分析結果 176
附錄D 肌肉路徑演算法 183
D.1 齊次坐標轉換矩陣 183
D.2 肌肉路徑演算法 184
D.2.1 球 184
D.2.2 單圓柱 187
D.2.3 雙圓柱 190
D.2.4 球筒 192
D.3 肌肉長度之驗證 195
D.3.1 球演算法之驗證模式 195
D.3.2 單圓柱演算法之驗證模式 197
D.3.3 雙圓柱演算法之驗證模式 199
附錄E 肌肉路徑與位置分析的相關數據 201
E.1 計算肌肉繞經障礙物之路徑所需的數據 201
E.2 各肌肉路徑上之經過點 215
E.3 經由手腕連至手掌的肌肉與其肌肉路徑上之經過點 223
附錄F Hill模型 228
F.1 等長肌力 228
F.2 肌肉參數 230
F.3 肌力特性曲線數據 232
附錄G 肌肉長度分析結果 234
G.1 手推輪椅 234
G.1.1 歷時約3秒的肌肉長度分析結果 234
G.1.2 歷時約6秒的肌肉長度分析結果 242
G.1.3 歷時約9秒的肌肉長度分析結果 251
G.2 模擬上肢帶動復健機械手 259
G.2.1 歷時約4秒的肌肉長度分析結果 259
G.2.2 歷時約6秒的肌肉長度分析結果 268
G.2.3 歷時約8秒的肌肉長度分析結果 276
附錄H 肌肉等長肌力分析結果 285
H.1 手推輪椅 285
H.1.1 歷時約3秒的肌肉等長肌力分析結果 285
H.1.2 歷時約6秒的肌肉等長肌力分析結果 293
H.1.3 歷時約9秒的肌肉等長肌力分析結果 302
H.2 模擬上肢帶動復健機械手 310
H.2.1 歷時約4秒的肌肉等長肌力分析結果 310
H.2.2 歷時約6秒的肌肉等長肌力分析結果 319
H.2.3 歷時約8秒的肌肉等長肌力分析結果 327
附錄I 肌力分析結果 336
I.1 模式一肌力分析結果 336
I.1.1 手推輪椅 336
I.1.1.1 歷時約3秒的肌肉激發因子分析結果 336
I.1.1.2 歷時約6秒的肌肉激發因子分析結果 346
I.1.1.3 歷時約9秒的肌肉激發因子分析結果 356
I.1.2 模擬上肢帶動復健機械手 365
I.1.2.1 歷時約4秒的肌肉激發因子分析結果 365
I.1.2.2 歷時約6秒的肌肉激發因子分析結果 375
I.1.2.3 歷時約8秒的肌肉激發因子分析結果 385
I.2 模式二肌力分析結果 395
I.2.1 手推輪椅 395
I.2.1.1 歷時約3秒的肌肉激發因子分析結果 395
I.2.2 模擬上肢帶動復健機械手 405
I.2.2.1 歷時約4秒的肌肉激發因子分析結果 405
自述 415
著作權聲明 416

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