非肌電控制式新型義手之研發

本研究在於研發一新型非肌電控制式義手，提供喪失上肢病患有更良好的義手操控與活動自主能力。主要改良項目包含：(1)改良義手手指動作，使新型義手可有如常人般的張開動作；(2)提供手掌旋轉功能，使義手可在不同平面上進行抓取動作，增加義手的實用性。本研究依據正常人手指抓取及手腕動作，利用創意性機構設計方法，研發出一新型義手，其機構主要為連桿組；抓取物體時是利用三支不同運動平面的指頭，而且手腕在抓取物體後也可以轉動，增加其應用的範圍。本研究也針對可行機構進行運動分析及機械利益分析，並利用MSC.ADAMS軟體進行最佳化設計與模擬，以證實其可行性；最後，製作原型，進行測試與修改，實際證明其可行性。

關鍵字

義手；機械利益；最佳化

並列摘要

This thesis presents a new mechanism design for Non-myoelectrical controlled prosthesis-hand, which could provide upper-limb handicapped better controllability and independence.The scope of this study mainly includes：(1) Improve the opening motions of prosthesis fingers to closely simulate those of a normal person; (2) Provide the rotating motion of wrist to make the prosthesis palm be able to grasp objects on different planes. This new prosthesis-hand has been developed in accordance with the motions of fingers and wrist of a normal person, and by applying the method of creative mechanism design. The design mainly uses linkages in its mechanism to achieve the goal of using three fingers in different motion planes to grasp object in order to increase the grasping stability. In addition, this new prosthesis-hand could perform the rotating motion of wrist after grasping object in order to increase its applicability. The kinematic analysis and mechanical advantage analysis have been performed on those potential mechanisms obtained by the method of creative mechanism design. The optimum design and simulation have been conducted by ADAMS software to select the final design and prove its feasibility as well. The prototype has been made, tested and modified. Therefore, the feasibility of this new prosthesis-hand has been confirmed.