基於慣性測量單元之人因工程分析系統及其應用於外骨骼機器人省力分析

近年來，人們開始更多地關注不同工作領域的人體工學相關議題，特別在大多數工作會引起不適或效率下降的農業場所。重複和密集的腰部運動常常可能導致背部受傷，這是由於農業機具操作引起較為常見的併發症。本研究提出了一種系統，結合了慣性測量單元（IMU）和外骨骼機器人的使用來即時評估人體工學風險並可在多項工作中協助工人進行操作。本系統基於其重量、耐用性、便利性和成本進行了優化，通過在受試者的軀幹和大腿上放置三顆IMU，藉由IMU來控制外骨骼機器人移動穿戴者的腿，並同時支撐他們的背部。在為配戴者提供的工作輔助時，同時使用了人體工學評估方法量測，例如快速上肢評估（RULA）、快速全身評估 (REBA)和肌電圖（EMG）。在我們的研究中，通過使用我們建造的外骨骼，在彎腰抬起動作時豎脊肌活動平均減少約21.62％，在半蹲抬起時減少22.53％；而股二頭肌的肌肉活動對於與上述相同的任務，分別下降6.775％和18.51％。本研究所開發之外骨骼機器人降低穿戴者的發生肌肉骨骼傷病之風險，並且可延緩大約兩成疲勞產生的時間，能實際讓受試者穿戴在農業場域進行應用，真正能幫助農業工作者進行勞務相關工作。這項工作不僅適用於農業任務，也適用於物流人員、建築工作和其他相關工作領域。

關鍵字

農業人體工程學；外骨骼機器人；人體工學方法；慣性測量單位（IMU）；肌電圖 (EMG)

並列摘要

In recent years, people have started to pay more attention to ergonomics in different fields of work, especially in agricultural workplaces in which most tasks cause discomfort or a decline in work efficiency. In particular, repeated and intensive waist motions may lead to back injuries, which is a very common complication caused by agricultural operations. This study proposes a system that combines the usage of inertial measurement units (IMUs) and an exoskeleton robot to automatically assess work performance and assist workers while performing several agricultural tasks. The system was optimized based on its weight, endurance, convenience, and cost. By placing three IMUs on the subject’s trunk and legs, the system is able to control the exoskeleton robot to move the wearers’ legs while supporting their backs. In order to evaluate the waist assistance provided by the system, ergonomic assessment tests were used, such as Rapid Upper Limb Assessment (RULA), Rapid Entire Body Assessment (REBA) and electromyography (EMG). In our research, by using the exoskeleton robot we built, the muscle activity of the Erector Spinae decreased by about 21.62% for lifting objects during stoop lifting and 22.53% during semi-squat lifting, while the muscle activity of Biceps Femoris decreased by 6.775% and 18.51%, respectively, for the same tasks as above. The development of exoskeleton robots in this study reduces the risk of musculoskeletal injuries in the wearer and can delay the time of about 20% of fatigue generation, and actually allows the subjects to wear them in the agricultural field for application, which can really help agricultural workers. Carry out labor related work. This work can be applied not only to agricultural tasks, but also for logistics personnel, construction work, and other related work fields.