人體上肢復健輔具之設計與研究

本文主要在設計人體上肢復健輔具的規劃與硬體之設計。這個復健輔具為針對上肢動作不便之患者。由於手對於身體來說是相當重要的部位，假使手失去原有的功能，對於日常生活是有相當嚴重的影響。因此我們以人體外骨銘的概念為核心，設計一個針對上肢復健所使用的輔助器具以氣壓缸來驅動，其設計的機械結構以對應至人體上肢的各個關節，包括局關節、肘關節與腕關節。本文設計理念為機械協助式上肢運動療法，可以使用機器手臂代替復健師的治療輔助工作，復健工作是非常耗時間以及人力，復健機器人協助治療師對病人實施復健計劃有許多好處，除了減輕人力負擔，在執行重複及連續性單調動作也可提供病人穩定的治療品質。本文是透過此款人體上肢復健輔具，來導引患者的上肢關節做彎曲、伸直、內縮、外展及局關節平行伸直的各種動作以及腕關節做平行擺動等，我們同時在復健輔具上安裝壓力感測器來感測患者受到機構帶動時所反應的力量。透過實驗來證實壓力感測器用於上肢復健輔具是可行的。最後將整套系統運用在復健醫學中，透過此復健輔具來引導患者動作，達到復健之目的。

關鍵字

氣壓缸；上肢復健輔具；復健

並列摘要

This paper focuses on the planning and hardware design of a rehabilitation robotic arm with pneumatic cylinders for upper limb. The rehabilitation robotic arm is designed for the inconvenience of the upper limb movement of the patients. The upper limb is very important part of the human body. If the upper limb loses its function, it is a very serious implication for daily life. The main feature of the rehabilitation robotic arm is exoskeleton type design. The robot-assisted therapy is the main design concept; it is due to insensitive training and severing labor consumption. The specifically design of the robotic arm is a kind of mechanism whose joints correspond to the joints of human upper limbs including the shoulder, elbow and wrist joints. In addition, the pressure sensors are used to detect the forces of patients when the rehabilitation robotic arm is action. These pressure sensors can provide the appropriate action for the system. Some basic experiments of rehabilitation poses are demonstrated the performance of the rehabilitation robotic arm.

並列關鍵字

rehabilitation robotic arm ； pneumatic cylinders

參考文獻

陳建銘(2006)。氣動式醫療復健手臂之設計與研究，修平技術學院電機工程研究所碩士論文。

Google Scholar

Cauraugh, J. H., Kim, S. B., Duley, A. (2005). Coupled bilateral movements and active neuromuscular stimulation: Intralimb transfer evidence during bimanual aiming. Neurosci Lett. 382, pp. 39-44