臺灣博碩士論文加值系統

　　近幾年來，肢體障礙者的人數逐漸上升。其中的下肢病患者以退化性關節炎、癱瘓以及中風居多，患者大多因為股四頭肌無力或是膝關節受損而變得行動困難。站立期控制膝關節輔具由膝關節和膝關節控制所組成，可以提供站立時膝關節的支撐，還可以提供患者一定的膝關節運動範圍，進而減少患者身體的擺盪，和維持使用者的身體平衡。
　　本論文設計了一款站立期膝關節控制輔具，希望能夠幫助使用者達到膝關節控制的目的，除了膝關節控制之外，還有動力分享功能，將髖關節馬達的能量傳達至膝關節，幫助使用者較輕易的坐站，減少肩膀的負擔。利用凸輪控制棘爪的結合與分離，進而控制動力分享機構的結合，使之不影響下肢行走時的自由擺盪。同時，將控制兩個機構的凸輪結合，簡化其控制難易度。組裝完成後測試動力分享機構是否與一開始的構想一致，也測試膝關節控制的模式間的變化。

Recently, the number of people who has handicap handbook are growing, most of them are limb disorder. They always have degenerative arthritis, paralysis, and stroke. These diseases make the elders difficult with walking because of the weakness of the quadriceps or dysfunction in the knee joint. The stance control knee orthosis consists of a knee joint and knee lock control mechanism. It can provide the stability while patients sit or walk. It also can reduce the oscillation of body during walking.
　　The purpose of this research is to develop an orthosis with two main functions. One is the knee control mechanism and the other is the power sharing mechanism. Both mechanisms are respectively controlled by a cam and the ratchets. The knee control mechanism provides knee joint stability and the power sharing mechanism transmits the power from hip motor to knee angle help patients sit or stand in sit-to-stand motion. In order to simplify the control strategy, the two cams are controlled by one actuator. This thesis also test the orthosis after manufactured for the feasibility of two mechanisms.

目錄
誌謝 ............................................................................................................................... I
摘要............................................................................................................................ III
Abstract ......................................................................................................................... V
目錄...........................................................................................................................VII
圖目錄........................................................................................................................ IX
表目錄.......................................................................................................................XII
第一章 緒論............................................................................................................................. 1
1.1 研究背景.......................................................................................................... 1
1.2 文獻回顧與探討.............................................................................................. 1
1.3 研究動機與目的.............................................................................................. 7
1.4 本文架構.......................................................................................................... 8
第二章 膝關節控制與動力分享............................................................................................. 9
2.1 下肢肌群介紹.................................................................................................. 9
2.2 步行週期........................................................................................................ 11
2.3 人體生理剖面................................................................................................ 12
2.4 站立期控制膝關節介紹................................................................................ 15
2.5 動力外骨骼(Power Exoskeleton) .................................................................. 15
2.6 患者自控式下肢癱瘓者交替助動步行矯具介紹........................................ 16
2.7 動力分享介紹................................................................................................ 18
第三章 機構設計................................................................................................................... 19
3.1 設計需求及規格............................................................................................ 19
3.2 動力分享機構................................................................................................ 19
3.2.1 坐站角度分析........................................................................................ 19
3.2.2 離合機構................................................................................................ 22
3.2.3 動力分享機構設計................................................................................ 22
3.3 膝鎖控制機構................................................................................................ 27
3.4 模式切換及時序圖........................................................................................ 28
3.4.1 步行模式與步態.................................................................................... 28
3.4.2 坐站模式................................................................................................ 29
3.5 模式控制方法及機構設計............................................................................ 29
3.5.1 控制流程圖............................................................................................ 29
3.5.2 棘輪棘爪組設計.................................................................................... 31
3.5.3 機構整合................................................................................................ 32
3.5.4 凸輪設計................................................................................................ 33
3.6 完成機構圖.................................................................................................... 36
第四章 機構驗證................................................................................................................... 38
4.1 模式控制方法................................................................................................ 38
4.1.1 控制方法及流程.................................................................................... 38
4.1.2 模型驗證................................................................................................ 39
4.1.3 實體模型驗證........................................................................................ 42
4.2 動力分享機構................................................................................................ 44
4.2.1 控制方法................................................................................................ 44
4.2.2 模型驗證................................................................................................ 44
4.2.3 實體模型驗證........................................................................................ 46
第五章 結論與未來研究....................................................................................................... 52
5.1 結論................................................................................................................ 52
5.2 未來研究........................................................................................................ 52
參考文獻................................................................................................................................... 54
附錄一....................................................................................................................................... 57

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