- 學位論文
客製化輪椅可動性與驅動效率之研究
The Study of Mobility and Propelling Efficiency of Custom-made Wheelchairs
摘要
本研究旨在以機械固力領域中之連桿組可動性合成法(mobility synthesis)，研究開發出快速設計客製化輪椅之方法，讓每位輪椅使用者能輕易尋得適合其個人之手動式居家型及運動休閒型輪椅，減輕肩部關節疼痛的發生。 本研究初期考慮在居家環境中以低速驅動輪椅所遭遇到的驅動效率問題，建立居家型輪椅（home-care wheelchair）設計系統，另接續開發一快速且有效率的運動休閒型輪椅（active wheelchair）設計系統，以減輕輪椅使用者於高速推動輪椅時上肢受到之負荷。本研究方法係將人體軀幹、上肢與手輪之人椅系統分別模擬成平面五連桿及六連桿組運動學模型（kinematic model），再利用平面連桿組的位移分析方法，建立人體軀幹、上肢與手輪的運動關係，並描繪上肢之關節工作空間(joint workspace)，進而結合人體計測學的人體動態尺寸量測方法，找出實際在推動輪椅時上肢推進的角度所構成的關節運動空間，並參酌輪椅使用者的生理特徵與生理限制，求出適合高速驅動的較佳輪心位置（d, h）及手輪半徑（r），以符合較佳之可動性條件（mobility conditions），產生良好的驅動效率。 本研究結果顯示：經由機械固力領域中的機構分析與合成之觀點與結合電腦程式運算，更加快速及精準的確立較佳之輪椅幾何構型（針對個別輪椅使用者求出適合之較佳輪心位置（d, h）及手輪半徑（r））。本研究設計兼顧上肢推進之極限角度與肌力收縮強度，可確保上肢於較佳之工作範圍內推動輪椅，降低上肢關節疼痛的發生。
並列摘要
The objectives of this study are to develop a quick customized design approach of manual wheelchairs with the mechanical mobility synthesis in the field of solid mechanics so as to allow every users to easily obtain his/her tailored manual wheelchairs ( home-care wheelchair and active wheelchair), thereby reducing potential shoulder joint pain. First, this research considered the propelling efficiency problem of home-care wheelchair at low-speed in the daily life at home. Then, to develop a quick and efficient active wheelchair design system, thereby reducing the upper-limb extremity loads at high-speed. In this study, the human-chair system composed of human body, upper-limb and hand-rim were simulated as a plain single-loop five-bar and six-bar linkage model. Also, the kinematic analysis techniques of linkages were conducted to figure out the corresponding joint workspace. By considering the analysis of the linkage movement and the upper-limb muscle strength, the optimal location of wheel hub（d, h）and the optimal radius（r）of the hand-rim were determined as the better mobility conditions and propelling efficiency. The results show that this study implemented the mechanical analysis and composition respects in the field of solid mechanics, incorporating computer operation, to promptly decide the better geometric configuration of a wheelchair. This research considered the limitary rotation angles and the isometric contraction muscle strength of upper limb that could ensure propelling wheelchair with the better efficiency and reducing potential the upper-limb joint pain.