提舉負荷之上肢外骨骼的設計及分析

Design and Analysis Of Upper Limb Exoskeleton When Lifting Load

吳承庭(Cheng-Ting Wu)

指導教授 ： 康淵

中原大學/工學院/機械工程研究所/碩士(2021年)

https://doi.org/10.6840/cycu202100990

摘要

本研究論文的研究目的是要幫助在工作中需要搬重物的人員以及在搬運工提取重物的測量減少提舉重物之力量設備輔助的人員，將他們的不便設計出一套針對上肢外骨骼輔具的研究，將實體的上肢外骨骼輔具所設計出來，並且穿戴在實際的人體身上，進行實驗的數據及分析，從機構剛開始的構思及參考其他人的設計，在到機構設計及討論，並且在討論的過程中開始著手設計上肢外骨骼輔具。
我們在設計上肢外骨骼輔具時，有考慮到人體上半身的結構，人的背因為有脊椎跟許多神經的連節，所以在設計背的部分，我們有考慮到當機構在作動時，是否會造成背的負擔加重，另外我們在設計上肢外骨骼輔具時，有考慮到雙手在搬起重物台舉時的動作能夠承受2及6kg的情況下，在雙手台舉重物時的動作，機構在這個時候也同時作動，在加上扭轉彈簧的作用，讓這個情況下雙手是否能夠減少出力，而達到省力的目的。
另外我們在設計機構零件的部分時，所考慮到的問題就是減輕零件原本的重量，這樣在穿戴時比較方便，也減輕肩膀的負擔，這就是我們這篇論文所要作的研究，然後借由這篇論文的成果，可以幫助到正在研究上肢外骨骼輔具開發的設計者或者研究人員。

關鍵字

上肢外骨骼輔具 ； 上肢康復外骨骼 ； 上肢輔具

並列摘要

The purpose of this research paper is to help people who need to move heavy objects at work, people who are injured in life and need rehabilitation or people who need assistance due to illness, and design a set of inconveniences for the upper limbs. For the research of exoskeleton assistive devices, the physical upper limb exoskeleton assistive devices are designed and worn on the actual human body. Experimental data and analysis are carried out. From the initial idea of ​​the organization and the design of other people, it is in the organization Design and discussion, and in the process of discussion began to design the upper limb exoskeleton assistive device.
When designing the upper limb exoskeleton assistive device, we took into account the structure of the upper body of the human body. Because the human back has a connection between the spine and many nerves, when designing the back part, we have considered whether it will The burden on the back is increased. In addition, when designing the upper extremity exoskeleton assistive device, we have taken into account the action of lifting heavy objects on the two-hand platform under the condition that the movements of the hands when lifting the heavy platform can withstand 20~30kg , The mechanism is also active at this time. With the function of the torsion spring, whether the hands can reduce the output in this situation, and achieve the purpose of saving effort.
In addition, when designing the parts of the mechanism, the problem we considered is to reduce the original weight of the parts, which is more convenient when wearing, and also reduces the burden on the shoulders. This is the research we will do in this paper, and then use this The results of this paper can help designers or researchers who are studying the development of upper limb exoskeleton assistive devices.

並列關鍵字

upper limb exoskeleton assistive device ； upper limb rehabilitation exoskeleton ； upper limb assistive device

參考文獻

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