一種支持體重之行走輔具的機構概念設計

本文提出一種支持體重之行走輔具的機構概念設計，主要目的是提供使用者在行走與蹲下時給予適當的輔助支撐力，分擔一部分人體的重量，以減少腿部肌肉與關節的負載（例如：臀部，膝蓋，腳祼等）。此設計不僅適用於殘障人士或關節退化的人，正常人也可使用。本研究依據實際的步態與蹲下運動擷取膝關節與踝關節的軌跡，並利用SolidWorks軟體所提供的限制條件功能，進行所需連桿機構的尺寸合成。本研究最終設計是各於膝關節與踝關節的軌跡上採用九個精準點合成，因此合成機構之腿部運動軌跡與人體腿部運動軌跡相當接近，所以使用者於步態運動時，機構會隨著腿部移動而不會與人體腿部干涉，也不會妨礙腿部移動之範圍。此行走輔具的機構是由七連桿八接頭所構成，為兩個自由度的機構，其中一個自由度是由感測器來控制機構內的馬達，並根據大腿與小腿之間的角度來調整輔助作用力；另一個自由度則由使用者控制，以達到能夠自然的行走。使用者體重直接作用在機構內的坐墊上，透過機構的作用而承受全部或部份人體重量負載。此行走輔助器是以SolidWorks軟體設計，並進行模擬、分析與檢驗，以確認設計的正確性。

關鍵字

行走；輔具；體重；關節；機構

並列摘要

This thesis presents a mechanism design for weight-support and walk-assist device. This device aims to provide the required support force for the user in order to share part of user’s weight and to ease the loads on the leg muscles and joints as well (such as hip joint, knee joint and ankle joint). This device is not only applicable to those handicapped and degenerative joint disease (Osteoarthritis), but also applicable to normal persons. According to the captured paths of knee joint and ankle from walking and squatting, the required linkage is synthesized by applying the function of constraint condition in the SolidWorks software. In this study, the synthesized linkage is obtained by selecting 9 precision-points from each path of knee joint and ankle, therefore, the resulted paths of the synthesized linkage are closely resemble to those of real person. The mechanism of this device is a 2-DOF 7-bar-8-joint linkage. One of the DOF is actuated by a motor which is controlled by a sensor and provides the assist force determined by the angle between thigh and calf. The other DOF is controlled by the user to achieve normal walk. The user sits on the cushion link of the mechanism, and the mechanism will bear the whole or part of user’s weight. This walk assist device is designed via SolidWorks software, and has been checked through simulation and analysis in the software to ensure it correctness of design.