- 學位論文
具可調屈曲/伸展耦合比之髖關節義肢機構設計
Design of a Reciprocal Hip Mechanism with Adjustable Flexion-Extension Coupling Ratios for Prosthetic Applications
摘要
下肢癱瘓、單側及雙側髖離斷截肢病患在臨床治療上對於臨床醫師和矯具義肢師而言皆頗具挑戰性，雖然現今已發展了多種的矯具義肢來幫助病患們恢復行走能力並維持站姿，但過於緩慢的行走速度及大量的耗費能量，而導致病患放棄使用矯具義肢而遷就使用輪椅的比率極高，因此許多研究者也不斷持續研究改善矯具義肢的設計。不過在過往的研究中，相對於膝關節，對於髖關節的研究較少著墨，但髖關節的機構設計也是急需改善的部分。現今普遍使用的交替式步態矯具只能以1:1 的髖關節屈曲/伸展耦合比運行，而過去研究發現若使用2:1 的屈曲/伸展耦合比能使得受試者增加行走速度及減少能量消耗，但研究中卻沒明確敘述其具可調控屈曲/伸展耦合比的矯具機構設計。 本研究的目的是設計出可調整設定耦合比的髖關節機構，並且能在站立中期時轉換耦合比;並且設計了一模擬裝置，由正常受試者操作，期待能藉此模擬病患的步態特徵。在髖關節機構實體化之後，利用動作分析系統進行實驗，驗證是否新機構運行時符合設定的耦合比。結果顯示其耦合比符合預期。最後對於設計的機構提出可改善之處，使其機構能更趨完整穩定且能實際應用於臨床治療。
並列摘要
Rehabilitation treatments of SCI, HD, and BHD patients are great challenges for clinicians, prosthetists, and orthotists. Although there are various orthoses and prostheses which have been designed to help patients recover the ability of mobility and stand straight, slow walking speed and high energy expenditure are two main factors in high frequency that patients abandon to use orthoses, and choose wheelchairs to maintain daily locomotion. Therefore, numerous researchers have made efforts to improve and develop several orthoses and prostheses. However, compared to the knee joint, the researches of hip joint mechanism are less among studies so far. The existing reciprocating gait orthosis only applies flexion/extension motion in 1:1 coupling ratio. In past researches, the researchers found that the higher hip flexion/extension coupling ratio (FECR) was associated with lower energy cost and higher walking speed, but there is no detailed description of mechanical design about this orthosis in the studies. The purpose of this research is to develop a reciprocal hip mechanism with adjustable FECR which can switch the pivots in the mid-stance, moreover, the simulator was designed with the hope that it may simulate the gait pattern of patients through an able-bodied subject. After the mechanism was assembled completely, the following experiment was performed to identify whether the hip motion of the simulator is accordance with the set hip FECR in the hip mechanism by means of the motion measurement system. The results of the experiment supported the utility of the hip mechanism. Finally, the suggestions about the mechanism were provided to help the mechanism working stably, and the mature mechanism could be applied in the rehabilitation in the future.