- 學位論文
穿戴式下肢輔具之研發設計及效能評估
Design of Wearable Lower Limb Exoskeleton and Its Assessment
摘要
台灣地區已經進入到老年化社會之林，隨著人口的急速老化，有關老年人預防保健、醫療照顧及安置的課題的各種研究將越來越重要。在本研究中設計一穿戴式下肢輔具，希望能輔助老人、運動傷害、小兒麻痺、等下肢不便之人們達到輔助的效果。 在本研究中將分為六大部分第一部份(第二章)探討人體步態分析，以三維實驗搭配LifeMOD模擬的方式瞭解人們爬梯的各種力學參數；第二部份(第三章)由人們步態的力學行為，以有限元素法分析輔具結構的強度及對於穿戴人體輔具結構與皮膚的剪力；第三個部份(第四章)則由第一部份結果設計出符合人體下肢路徑的撓性桿件(Spring Structure)，用於輔助膝關節(Knee)力矩，再由第二部份結果應用在輔具結構材料及外型設計，最後搭配新型態的高壓二氧化碳氣體作為動力源裝置以及鋼纜驅動機制，形成整體下肢輔具系統之雛形；第四部份(第五章)以表面肌電訊號(sEMG)的MMF(Magnitude median frequency)頻率搭配修正迴歸分析方法來預測方式肱二頭肌(Biceps Brachii)肌肉在手部反覆抬舉肌肉局部疲勞忍受度的時間，此方法目是要建立分析輔具成效機制；最後部份(第六章)是以第四部份的方法分析人體下肢肌群在穿與無穿輔具的成效，另外也運用肢段(節)法(Segmental method)分析在穿與無穿輔具的膝關節力矩。 最後由各種成效分析結果顯示，本研究開發出的穿戴式下肢輔具對於輔助膝關節有良好的輔助效能，此研究希望提供未來輔具的研究及開發上一定方向及貢獻。
並列摘要
Taiwan has already entered the realm of aging societies; with its rapidly aging population, studies concerning preventative health care, medical care, and arrangements for the elderly have become more and more important. This study designs a wearable lower limb exoskeleton in the hopes to help less able people, for example the elderly or people who suffers sports injuries or polio. This study is comprised of five parts. The first part (Chapter 2) referred to the gait analysis, where 3-dimensional experiments are combined with LifeMOD simulation to analyze various mechanical behaviors in people climb stairs. The second part (Chapter 3) was to analyze the structural strength of the assistive devices by the finite element method and the shear stress on the comfortable state of skin from wearing the lower limb exoskeleton. The third part (Chapter 4) concerns the design of a spring structure that conforms to the lower limb path to provide assistive knee torque to the result from Part 1. The results of Part 2 are then applied to the material of construction (lower limb exoskeleton) and the shape design. Finally, a high pressure carbon dioxide gas is used as the power source, and a cable-driven mechanism is used to complete the prototype of the entire lower limb exoskeleton system. The fourth part (Chapter 5) uses the magnitude median frequency (MMF) of the surface electromyography (sEMG) in combination with modified regression analysis to predict the local fatigue endurance time of the biceps brachii when the hands are lifted repeatedly task. The purpose of this method is to analyze the effectiveness of the exoskeleton. The last part (Chapter 6) analyzes the effect of wearing or not wearing exoskeleton on lower limb muscles, using the methods mentioned in Part 4 (Chapter 5); in addition, the segmental method is also applied to analyze knee torque with or without wearing exoskeleton.