利用工業機械手臂發展關節生物力學測試系統之研究

Development of a Robot-Based Testing System for the Study of Joint Biomechanics

徐徹菖(Che-Chang Hsu)

指導教授 ： 呂東武

國立臺灣大學/工學院/醫學工程學研究所/碩士(2005年)

https://doi.org/10.6342/NTU.2005.01992

摘要

人體關節之生物力學研究通常包括評估關節勁度及內部各組織的受力分布，雖然目前已有許多方法可用以量測關節及其內部組織之力學特性，如植入感應器、關節評估儀器、電腦模擬等。但是由於人體關節運動具有多自由度，且組織有幾何及材料的非線性，因此要如何模擬人體關節實際受負載情形及運動路徑並量測到內部組織的受力分布一直是生物力學領域中一大挑戰。本研究之目的係以工業用機械手臂為基礎發展一套關節測試系統，並透過電腦模擬先行建立一穩定且快速的控制方法，再整合至關節測試系統之控制介面，以進行關節生物力學之研究。
此關節測試系統係利用機械手臂來控制關節的六個自由度運動，同時在機械手臂末端效應器上安裝六軸力規以推算取得關節受力，並自行開發一控制介面加以統整系統之軟、硬體以利控制。本研究除了關節測試系統的架設外，亦利用一三維膝關節模型進行控制方法之電腦模擬，並整合至關節測試系統之控制介面，以提供系統更穩定且快速的控制程序。
藉由膝關節模型之電腦模擬與測試系統之動物實驗，以比較三種控制方法之穩定度與速度，已成功建立一穩定且快速之控制方法。並由動物實驗的結果驗證關節測試系統及控制方法之可行性。
此系統在生物力學的應用方面主要有兩大功能。第一，此系統可以量得關節在力量控制下的運動軌跡，觀點近似於臨床上的理學檢查。第二，此系統亦可執行重複關節運動路徑，並同時量得該運動路徑下的關節受力，進而利用力學的疊加定理求得關節內部組織的原位力。因此，以機械手臂發展關節測試系統以精確量測關節之運動學及力動學資料，將有助於了解關節的勁度表現及內部組織在關節運動中的功能與貢獻。

關鍵字

人體關節 ； 生物力學 ； 機械手臂 ； 關節測試系統

並列摘要

Joint biomechanics often aims at determining the joint stiffness and the contribution of the soft tissues in terms of load and strain. Many methodologies have been applied to measure the mechanical properties of joints and soft tissues, e.g. implanted transducer, arthrometer, computer modelling. Nevertheless, it remains difficult to simulate the loading conditions applied to the joints since joint motion is multi-degree-of-freedom and joint is geometrically and materially nonlinear. The purpose of this study is to develop a Robot-based Joint Testing System（RJTS）and integrate a stable and fast control method established in computer simulation into the RJTS.
The robotic manipulator can control the 6-DOF joint motion accurately and combine a 6-axis load cell mounted on the end effector of robot to measure the loads. In order to integrate the RJTS, the control methods developed in computer simulation were integrated into the RJTS interface coded in Visual Basic to perform the 6-DOF position/force-moment control.
The stability and speed of three control methods were compared in computer simulation and animal experiment. Moreover, the integrated RJTS interface can perform a reliable 5-DOF AP translation test, and those results can be used to validate the feasibility and reliability of the control methods and RJTS.
To measure the path of joint motion under a specific loading condition and to reproduce a path combining the measurement of simultaneous loads are the two main functions of the RJTS. Since RJTS is capable of measuring the kinematic and kinetic data of joints accurately and the in situ force of the sectioned soft tissue by the principle of superposition, which is helpful to measure the joint stiffness and understand the function and mechanical contribution of soft tissues.

並列關鍵字

Human joint ； Biomechanics ； Robotic ； Arthrometer

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