上肢阻力訓練裝置之設計及評估

Design and Evaluation of a Spring-loaded Upper Limb Exoskeleton for Resistance Training

吳宗明(Tzong-Ming Wu)

指導教授 ： 陳達仁

國立臺灣大學/工學院/機械工程學研究所/博士(2012年)

https://doi.org/10.6342/NTU.2012.01460

摘要

在本論文中，我們提出一種創新的上肢阻力訓練裝置設計，此裝置具有三個肩關節與一肘關節自由度，可依據肌力訓練處方需求，連續性的調整阻力訓練所需的荷重大小，並透過在人體不同活動平面的動作，包括肩關節的外展/內收，肩關節的屈曲/伸展與肘關節的屈曲/伸展，訓練包括三角肌、胸大肌、上斜方肌、棘上肌、肱二頭肌與肱三頭肌等人體上肢主要肌肉群。研究的目的主要是希望能研究開發出一種設計簡潔、容易操作與安全的上肢阻力訓練裝置。適合於年長與慢性疾病醫療健康需求族群，可以在復健或健康照護人員低度參與的情況下，居家進行和緩到溫和程度速度的自主性上肢阻力運動，以維持與強化上肢肌肉群肌力。透過運動學與動力學分析建立自由重量訓練與本阻力訓練裝置數學模型，並以類比於相同人體動作的自由重量訓練的概念，求得阻力訓練裝置各個桿件與彈簧剛性值的設計方程式或準則。依據上述求得的設計方程式與準則，在給定的最大需求荷重規格下，進行了阻力訓練裝置的具體化設計與雛型實驗載台的製作。並透過男女受試者以三個等級的荷重搭配兩種運動速度實際操作啞鈴與阻力訓練裝置，執行肩關節的外展/內收，肩關節的屈曲/伸展與肘關節的屈曲/伸展的動作。運用動作分析方法與肌電值量測，進行肩關節與肘關節扭矩及選定之相關肌肉群的肌肉肌電圖之實驗量測與評估。經由實驗資料的收集與分析，提供測試數據驗證我們以零自由長度彈簧作為阻力訓練裝置阻力源，配合外甲式機構設計之阻力訓練裝置，可以有效減少關節與肌肉在高荷重與速度之啞鈴運動中所承受的慣性矩負面影響的想法，並可提供未來進行相類似裝置設計與驗證時的參考。

關鍵字

阻力運動 ； 上肢訓練裝置 ； 自由重量訓練 ； 動作分析 ； 肌電圖

並列摘要

Regular physical activity reduces the risk of adverse health outcomes for people of all ages. Research has demonstrated that most individuals can benefit from regular physical activity, regardless of whether they participate in vigorous exercise or moderate physical activity. Habitual physical activity and exercise also reduce the risk of chronic disease. For young, healthy people, many aspects of physical fitness can easily be realized by performing exercises that do not require special equipment. Various exercise devices have been developed to enable individuals who require assistance to achieve their physical fitness goals efficiently and consistently. However, concerns have been raised over the possible negative effects and safety of these exercise devices for elderly and clinical populations. Here, an unpowered spring-loaded upper limb exoskeleton designed for strengthening the muscles of the upper limbs at single and multiple joints in different planes is proposed. The upper limb exoskeleton consists of a shoulder joint with three degrees of freedom and an elbow joint with one degree of freedom, and it can perform internal-external, abduction-adduction, and flexion-extension movements of the shoulder, as well as flexion-extension motions of the elbow. Our aim was to provide an upper limb resistance training device that is compact, cost-effective, easy to operate, and safe for elderly and clinical populations who exercise at low and moderate speeds and that can be used for home-based rehabilitation in the absence of a fitness instructor or therapist. Kinematic and dynamic models have been formulated to develop design criteria to analyze free-weight and spring-loaded exoskeletons for upper limb resistance training. Embodiment design was performed and a prototype was constructed for evaluation. Motion analysis methods and electromyography measurements were chosen for evaluation of the joint torques and the neuromuscular response of major upper limb muscles when male and female subjects performed the designated resistance training. The collected data, along with kinematic and dynamic joint torque analysis, not only verifies our hypothesis that, with zero-free-length springs, this spring-loaded upper limb exoskeleton is capable of reducing unfavorable lengthening of the muscles during high-intensity free-weight exercises but also provides important general principles for designing appropriate spring-loaded exoskeletons for upper limb resistance training.

並列關鍵字

resistance exercise ； upper limb exoskeleton ； free-weight exercise ； motion analysis ； electromyography

參考文獻

﹝1﹞ World Health Organization, Global Strategy on Diet, Physical Activity and Health, Geneva, WHO, May, 2004.

﹝3﹞ U. S. Department of Health and Human Services, Physical Activity Guidelines for Americans, October, 2008.

﹝5﹞ Department of Health and Human Services. Physical Activity Fundamental to Preventing Disease, June 20, 2002.

﹝6﹞ Warburton D. E. R., Nicol C. W., and Bredin S. S. D., Health benefits of physical activity: the evidence, Canadian Medical Association Journal 2006; 174(6): 801-809.

﹝8﹞ Haskell W. L., Lee, I. M., Pate, R. R., Powell, K. E., Blair, S. N., Franklin, B. A., Macera, C. A., Heath, G. W., Thompson, P. D., and Bauman, A., Physical activity and public health: updated recommendation for adults from the ACSM and AHA, Circulation 2007;116:1081-1093.