人體下肢防摔運動之量測與分析

Measurement and Analysis of Human Regaining Balance Motion via Lower Limb

吳亮翰(Wu,Lianghan)

指導教授 ： 楊智媖

國立中正大學/工學院/機械工程學系/碩士(2012年)

摘要

本研究目的為分析人體發生向前傾倒不平衡時之本能防摔機制。本研究由5位健康年輕男性共同設計者（年齡24.6±0.55）參與實驗，首先利用影像動作擷取系統（Basler A602F），量測下肢於防摔動作中之各關節角度變化，記錄防摔過程中之跨步步長，且經訊號處理與運算得知角速度變化；另外，搭配足底壓力感測器（F-SCAN）量測足底壓力分佈，得知腳底壓力中心於防摔過程中之變化。接著，將影像匯入MATLAB中進行影像分析，得到各關節之位移、角度等數據，並將訊號中的雜訊進行濾波處理，且運算得知角速度變化，最後利用機器人學建立其動態方程式，撰寫MATLAB程式模擬其動態特性，並將量測所得之運動姿態與狀態匯整於MATLAB程式中，計算出人體下肢部各肢段與關節運動學與動力學等相關資料。經由動態模擬分析所得到的足部受力情況，比較動態動作下足部對地面的作用力，是否等於腳底壓力感測器所測到的反作用力，以驗證模擬程式之準確性。

關鍵字

跌倒 ； 防摔機制 ； 動態模擬 ； 足底壓力

並列摘要

The purpose of this study is for the analysis of the human regaining balance motion in the forward dumping. In this study, five healthy young male co-designer （age 24.6 ± 0.55）participate in the experiment. First, we measure angular positions of lower limb via the image motion capture system, and recorded the step length during regaining balance motion. Then, we analyze the signal and compute the angular velocity variation. In addition, the plantar pressure distribution is applied to measure the variation of the foot pressure center. Then, the images would be analyzed in MATLAB to get each joint displacement, angular position, and noise would be canceled via filtering. In addition, we compute angular velocities and acceleration. Finally, based on robotics, we establish dynamic equations, simulate the dynamic via MATLAB program From the simulation results, we can obtaining the force applied on foot, and comparing the force measured by foot pressure sensor in order to verify accuracy of simulation program.

並列關鍵字

fall ； falling arrest ； dynamic simulation ； center of pressure

參考文獻

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