考慮彎曲角度關係之殘肢驅動義指設計

Design of Residual Limb Actuated Prosthetic Fingers with Consideration of Flexion Angle Relation

鄭凱元(Kai-Yuan Cheng)

指導教授 ： 陳達仁

國立臺灣大學/工學院/機械工程學研究所/碩士(2015年)

https://doi.org/10.6342/NTU.2015.10563

摘要

本論文提出一種殘肢驅動義指的設計方法。截肢者可能由於生病或是意外，導致部分手指被截肢，因此截肢者需要配戴義指以恢復原有手指之功能，此義指具有一個自由度，其驅動方式是藉由殘肢的彎曲來帶動整個義指運動，使其模擬原有手指的彎曲以及伸展動作。截肢者可分為殘肢在近端指節，以及殘肢在中間指節兩種情況，因此在設計義指時，需根據不同情況分別進行討論與分析。
基於此概念，首先定義人體手指的動作特徵，可得知手指在彎曲的過程中，各關節的夾角具有固定的角度關係，因此所設計的義指在運動時需符合此角度關係，才能良好的模擬人體手指的動作。根據人體手指的特徵，可定義出義指的設計目標，並藉由特徵以及自由度方程式，篩選出適合的運動鍊結構以進行義指機構的設計。
為了使義指符合人體手指的彎曲角度關係，本論文是選擇以最佳化的方式進行桿件參數的設計，首先列出各桿件的幾何關係方程式，加上目標角度關係方程式以及各項設計限制，接著設定初始值並進行最佳化，可得到義指機構的各項參數。得到最佳化參數後，根據這些參數進行模擬，驗證義指的動作以及彎曲角度關係，並且與人體手指進行比較，最後，使用軟體SolidWorks進行各零件的設計與繪製。

關鍵字

義指 ； 殘肢 ； 角度關係

並列摘要

The thesis addresses a design method of residual limb actuated prosthetic fingers. Because of disease or accident, amputees may lose portion of their fingers. Therefore, it is necessary to wear a prosthetic finger to regain control of flexion and extension movements. The prosthetic finger only has one degree of freedom. To mimic the motion of the human finger, it is actuated by flexion of the residual limb. For amputees, the residual limb is at the proximal phalange or the middle phalange. Therefore, for designing the prosthetic finger, it must be divided to previous two conditions to discuss and analysis.
First, motion characteristics of the human finger are defined. It is considered that phalanges of a human finger have an angle relation during flexion and extension. The flexion angle relation of the prosthetic finger must simulate the human finger. According to characteristics of human fingers, design objectives of the prosthetic finger are defined. Then, the admissible kinematic structure is searched by these objectives and the formulation of degree of freedom.
In order to make the angle relation of the prosthetic finger simulate the human finger, an optimization method is used in this thesis. For the optimization, geometric equations and angle relations are presented. Then, constraints and initialization parameters are set up to obtain the optimal result. According to the result, the flexion motion and the angle relation of the prosthetic finger are simulated. Moreover, the simulation result of prosthetic fingers is compared to human fingers. Finally, software SolidWorks is used to design links of the prosthetic finger.

並列關鍵字

prosthetic finger ； residual limb ； angle relation

參考文獻

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