多自由度雙足步態測試系統之研究

Research on Multiple DOF Bipedal Gait Test System

溫聖安(Sheng-An Wen)

指導教授 ： 毛彥傑

共同指導教授 ： 阮岱珈(Dai-Jia Juan)

國立虎尾科技大學/工程學院/機械與機電工程研究所/碩士(2011年)

摘要

下肢運動系統之骨骼、肌肉或神經傳導控制系統受到損傷或治療後，步態復健是一種重要的療養手段，其功能除可避免行動功能全然喪失外，甚可增進運動系統機能復甦之速度。受近代醫療自動化技術進展之幫助，以往需要以大量且專業物理治療師進行之步態復健工作，得以透過機械、電控、及資通訊等技術之結合，以復健機器人之型式針對患者進行同等專業、更為精確、且持恆之復健醫療程序。
本研究提出一種以史都華平台為基礎的多自由度步態測試系統，可達到模擬人類步態之目的，預期對有步態復健或測試需求之族群能有所幫助。首先收集相關文獻，對其市場及使用族群進行分析，利用3dsMax製作人體模型，進行人類之步態模擬，由模擬步態資料進行運動平台之設計分析，利用SolidWorks繪製運動平台，建立其運動學與動力學模型及姿態模擬，完成特定功能之機體實作及LabVIEW程式控制介面，可進行位移迴授量測並進行運動平台之姿態控制。

關鍵字

史都華平台 ； 醫療機器人 ； 復健 ； 步態測試

並列摘要

Gait rehabilitation is an important process during medical treatments on lower extremity injuries for human neuromusculoskeletal system. The main purposes of rehabilitation include remaining a basic level of the patient’s locomotive capabilities as well as shortening the recovery time of corrupted locomotive system. Benefiting from the medical device automation technology in recent years, robots achieve the rehabilitation in a professional, precise and continuous manner by integrating mechatronics, automation, computer science and communication technologies, improving the qualities provided by human therapists, the labor-intensive works.
This research proposes a Stewart Platform-based measurement system for human gait rehabilitation and test purposes. Related works are collected and analyzed to fetch a brief understanding of the market. Human gait model is constructed in 3dsMax software and a CAD model is established in SolidWorks. This research forms the mathematic models of kinetics and dynamics and performs the footplate posture simulations by using these models. Hardware implementations for specific functions are accomplished as well as the control software interface.

並列關鍵字

Stewart Platform ； medical robots ； rehabilitation ； gait test

參考文獻

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