人體運動系統之動態控制模擬與研究

The Dynamic Control Simulation and Research of The Human Motion Systems

劉昭雨(Zhao-Yu Liu)

指導教授 ： 黃運琳

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)

https://doi.org/10.6827/NFU.2011.00135

摘要

現代人面臨著各種的壓力，尤其是某些需要長時間維持同一姿勢之特定工作，久而久之，容易導致不良習慣的產生。本論文則從工程的角度來分析人體多體系統運動時各關節的作用力，證明良好的運動姿勢能夠減輕人體多體系統各部位的負擔，避免長期不當施力所造成的傷害。分別以兩種動作：坐到站的動作分析、舉手動作分析，用來評估一般人之運動軌跡其身體各關節之運動與受力情況。然而單純進行視覺上的觀察，欠缺科學化之量化數據，因此利用運動分析儀器擷取人體多體系統運動資料，將得到的資料輸入電腦輔助軟體，模擬人類多體系統各種的運動軌跡。
本論文企圖藉由觀察正常人坐到站、舉手等動作主要之運動學輸入和輸出參數，包括軀幹前傾角度，髖關節與膝關節彎曲角度、踝關節背屈角度，以及人類多體系統質心的位移，進而探討此動作中，各階段輸入與輸出參數的對應關係。
最後本論文則利用控制法則找出人類多體系統運動時的各關節角度，同樣建立人體模組然後代入多體動力學電腦輔助工程分析ADAMS/LifeMod軟體來分析其關節之力與力矩與實驗之結果相比較並觀察其差異，探討控制的運動路徑和運動方式。本論文研究成果將可提供給生物力學與復健治療領域，成為可靠而有效的參考指標。

關鍵字

坐到站的動作分析 ； 舉手動作分析 ； 控制法則 ； 多體動力學

並列摘要

Improper postures are able to cause minor or major injuries to the human body multibody system.From the viewpoint of engineering, this project analyses the displcenents, forces and moments of joints to verify that the well movement can relax the burden of every position of the human body multibody system. Two kinds of postures such as sit-to-stand analysis and raising hand analysis will be considered. In order to verify the results of the experiment, a motion capture system is utilized to collect data of thehuman body multibody system movements, which is used in multi-body models to calculate displacements and the movements, reaction forces/moments of joints. From the results, the biomechanic model of human motion system can be simulated and calculated for reaction forces and moments in this research.
This research project is going to build kinematic and dynamic models of the
motion of normal persons who are doing sit-to-stand and raising hand postures and analyze the kinematic and dynamic parameters in slope plane, including trunk forward tilt angle, hip and knee flexionangles, ankle dorsiflexion angle, and the displacement of center of mass, as well as the relationship between
various parameters.
Finally, a controlled-method is applied to find theoretical path of body motion. It is illustrated that the theoretical. solution and appropriate techniques which can be obtained by human models and motion experiments. The results of this research will be able to use as a reliable and efficient index for the areas of biomechanics and rehabilitation.

並列關鍵字

sit-to-stand analysis ； raising hand analysis ； controlled-method ； multibody dynamics

參考文獻

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