日常生活中，人體的上肢擔負著完成許多動作的重要功能。當設計用上肢所驅動的物件(如輪椅及運動器材等)或用來帶動上肢的物件(如復健機械手)時，若要得到較佳的設計，應建立上肢在驅動該物件或被該物件帶動過程中，其整體的設計與分析模式，以了解上肢在該過程中，各關節的運動與驅動力之情形，進而可評估所設計出的物件性能之優劣。
本文的主要目的是在假設肩部不動的前提下，建立一上肢的骨骼模型，並分別針對上肢驅動輪椅及一復健機械手，建立其運動及靜力分析模式。首先介紹人體上肢主要之骨頭及關節的構造與機能，藉此而得各關節之自由度，並列出各關節角運動範圍之限制。再以一空間SUU運動鏈為基礎，建立上肢肩關節至腕關節之間的模型。對於上肢驅動輪椅時，用空間RUUS機構模擬之。若是上肢推動復健機械手，而使其腕部沿直線軌跡來回移動時，則是用空間FUS機構模擬。針對此兩機構先分別建立其運動分析模式，不僅推導出其解析解，亦使用數值解驗證之；進而建立其靜力分析模式。另外，分別使用上肢驅動輪椅及復健機械手為實例，說明所建立各模式的使用及顯示其分析結果。接著為了探討以上肢推輪椅時的合理姿態，應用最佳設計的方法，除了建立應有的限制條件外，並以三種目標函數，搜尋空間RUUS機構之兩個自由度間的關係，進而可據以決定各關節的運動及所需的驅動力矩。
本研究針對上肢骨骼進行了模擬與分析，若能加上肌肉系統，可進一步建立上肢的骨骼肌肉模型；若能再與醫療、健身、及手工具等器械的設計與分析模式相整合，應能設計製作出更佳的產品。

Upper limbs have very important functions on accomplishing many daily activities. In order to have better designs of the objects which are driven by upper limbs (such as wheelchairs, or exercise trainers, etc.) or those drive the upper limb (e.g. rehabilitation robots), the model of the upper limb should be developed and be integrated with those for the design and analysis of the objects, so as to have better investigation and evaluation of their characteristics.
The main purpose of this study is to develop models for the kinematic and static analyses of the upper extremity in wheelchair propulsion and rehabilitation robot training, with the assumption that the shoulders are kept fixed. Firstly, the skeleton and functions of the upper limb are introduced. Additionally, the degrees of freedom (DOF) and ranges of motion of joints are stated. Based on treating the upper extremity from the shoulder joint to the wrist joint as a spatial SUU kinematic chain, the spatial RUUS mechanism, which has 2 DOF, is used to simulate an upper limb propelling one side of a wheelchair; furthermore, a spatial FUS mechanism is adopted as the model of the wrist operating a rehabilitation robot with linear orbits. Their kinematic analysis models are developed. Except their analytical position solutions are derived, they are also checked with those gotten by using numerical techniques. Consequently, the models for the static analysis of the mechanisms are also built. Furthermore, wheelchair propulsion and rehabilitation robot training are adopted as the examples to demonstrate the usages of the models developed and to show the results of the analyses. Based on the models of the kinematic and static force analyses of the RUUS mechanism, a model for using optimization techniques to determine the relations between 2 DOF of the mechanism is built in order to get reasonable postures of the upper extremity in wheelchair propulsion. Except necessary constraints considering the requirements of simulating an upper limb propelling a wheelchair, three reasonable objective functions are applied, and then the kinematics and torques of the joints can be determined.
The results of this study provide a base for developing musculo-skeletal models of upper limbs. If they can be integrated with the design and analysis models of medical instruments, body-fitness trainers, hand tools, etc., it should be helpful to develop better products of theirs.

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