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研究生： 廖弘凱
Liao, Hung-Kai
論文名稱： 新式具移動、站立及運動功能載具之研發
An Innovative Carrier with Functions of Mobility, Standing and Exercise
指導教授： 蘇芳慶
Su, Fong-Chin
學位類別： 碩士
Master
系所名稱： 工學院 - 生物醫學工程學系
Department of BioMedical Engineering
論文出版年： 2016
畢業學年度： 105
語文別： 英文
論文頁數： 72
中文關鍵詞： 行動 、站立 、復健 、轉位 、智慧型載具
外文關鍵詞： mobility, stand, exercise, transfer, innovative carrier
相關次數： 點閱：62  下載：1 
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    • 雖然市面上存有各式各樣不同功能的輔具，但每一種設計都有其優缺點。首先，輪椅是一種最常見也是移動功能最為方便的輔具，但使用者在上下輪椅時會有轉位困難的問題。吊架是最佳的轉位輔助工具但卻缺乏便利性。且會對使用者造成心理上的負擔。而且一般站立架設計通常僅提供下肢失能者站立功能，少有兼具移位及移動的功能。臨床復健用的下肢訓練機雖能針對特定訓練目的有其復健效果,但其所需空間及使用的便利性讓其普遍性不佳。有鑑於上述原因,因此一台創新性的新型輔具是有其市場潛力的。然而市面上並沒有兼具移動、協助站立、移位、下肢訓練功能的輔具，因此團隊以此概念融合輔具及訓練器的新型載具，也就是i-transport rehab。在本研究中則分別招募健康受者以及脊髓損傷(SCI)受試者進行人體生物力學分析。由實驗結果發現在健康受試者(N=15)其踝、膝及髖關節最大活動度分別為35.02, 44.82及20.29度，且其踝關節所能達到的最大最小角度值分別為為蹠屈19.52及背屈33.07度，在膝關節則為屈曲108.21及52.17度，而在髖關節則為屈曲78.66及33.39度。在SCI受試者(N=4)部份其踝、膝及髖關節最大活動度分別為36.64, 45.34及21.39度，而其踝關節所能達到的最大最小角度值分別為為蹠屈23.86及背屈30.63度，在膝關節則為屈曲128.05及73.37度，而在髖關節則為屈曲117.36及85.95度。在運動過程中不論健康或是SCI受試者其左右晃動都在一公分以內，但由於SCI受試者在運動過程中無法完美的保持上身平衡導致其前後晃動程度稍大，但移動的幅度很小且加上安全帶的輔助，因此不會有使用上的危險。除了人體動作分析之外，本研究也對使用者的臀部峰值壓力做了觀察以此來探討坐墊的設計是否安全。由數據顯示在健康受試者(N=15)部分其靜態的坐姿及站姿峰值壓力分別為37.20及29.19 kpa，而在動態的被動運動過程中其峰值壓力從低、中、高及自選舒適高度下的數值為43.94、35.84、29.43及31.78 kpa。在SCI受試者(N=9)的部分，其靜態的坐姿及站姿峰值壓力分別為31.00及28.30 kpa，而在動態的被動運動過程中其峰值壓力從低、中、高及自選舒適高度下的數值為19.07、21.86、21.70及22.12 kpa。峰值壓力的部分可以發現健康受試者不論靜態或動態以及SCI動態的部分會有偏高的數值產生，這是因為在坐墊的材質選擇上使用一般型泡棉墊而非特殊減壓效果的泡棉材質，因此在未來若將材質以及坐墊形狀改善則會降低其數值。此新型輔具除了滿足下肢障礙者站立、轉位、運動復健、以及獨立完成日常生活功能之需求之外，希望可以藉此大幅改善下肢失能者的生理機能，並提升其生活獨立性及其對自我形象的認知。

    According to the survey of National Development Council, people who aged over 60 account for 9.2 percent of the population and increased to11.7 percent from 1990 to 2013 and it is estimated that it will rise to 21.1 percent in 2050. Reported by Ministry of Home Affairs, there were about 1 million and 85 thousand people with disability until the end of 2011 June, and 35.58 percent of them were physical disability. Along with the advancement in medical technology and the phenomenon of ageing, the demand for assistive devices for independent mobility is expected to increase. There are more and more innovative carrier designed for specific purpose in the market nowadays. A carrier that provides functions of both transfer and standing would improve quality of life. Many studies suggested that those with disabilities maintain physical and mental health by routine rehabilitation programs. Therefore, it is required to create a lightweight, easily operative, and multifunctional carrier with functions of moving, standing, and exercising. The purpose of this study was to design an innovative carrier, i-transport rehab, which provide transfer, standing and exercising functions. The stability of this man-machine system was assessed to examine its usability and safety by utilizing MATLAB programming in this study. Fifteen healthy participants and nine participants with spinal cord injury were recruited to evaluate the biomechanical behavior while using i-transport rehab and peak pressure between the buttock and the seat at four seat height were analyzed in this study. The results showed that driving i-transport rehab is safe in every accessible outdoor and indoor design area including ramps and flat ground. The maximal range of motion (ROM) of the ankle, knee and hip joints are 35.02, 44.82 and 20.29 degrees for heathy participants and 36.64, 45.34, 21.39 degree for participants with spinal cord injury, respectively. In the process of exercise, it caused a little shifting in COM displacement unavoidably, but the displacements of COM were slight for users. With this innovative multifunctional carrier, users will be able to safely move and stand while carrying out daily activities. Most importantly, users can exercise without barriers. This is believed to be of substantial health benefits to those with disabilities.

    Content 中文摘要 I Abstract II 致謝 III List of Tables VI List of Figures VII Chapter 1 Introduction 1 1.1 Background 1 1.2 Disabilities of lower limbs 1 1.3 Spinal cord injury (SCI) 2 1.4 Pressure ulcer 3 1.5 Passive exercise of SCI 3 1.6 Aids 4 1.6.1 Mobility aids 4 1.6.2 Standing aids 5 1.7 Motivation 7 1.8 Previous designs 7 1.9 Purposes 9 Chapter 2 Methods 10 2.1 Prototype design 10 2.1.1 Mechanism design 10 2.1.2 Material and components 13 2.2 Man-machine system stability analysis 14 2.2.1 Critical ramp at constant velocity 15 2.2.2 Critical acceleration on the level ground 17 2.2.3 Maximal acceleration on the level ground 19 2.2.4 Critical acceleration at ramp 19 2.2.5 Maximal acceleration at ramp 24 2.3 Man-machine interfaces interactions 24 2.3.1 Participants 24 2.3.2 Equipment 26 2.3.3 Experimental procedures 28 2.3.4 Parameters calculation 28 Chapter 3 Results 35 3.1 Man-machine system stability analysis 35 3.1.1 Critical ramp at a constant velocity with i-transport rehab 35 3.1.2 Maximal acceleration on level ground 36 3.1.3 Critical acceleration on level ground with i-transport rehab 36 3.1.4 Maximal acceleration on a ramp 37 3.1.5 Critical acceleration on a ramp with i-transport rehab 37 3.2 Man-machine interface interactions 39 3.2.1.2 Joint angles during exercise for SCI adults 45 3.2.2.1 Pressure mat analysis during one cycle for healthy adults 51 3.2.2.2 Pressure mat analysis during one cycle for SCI adults 53 3.2.3.1 COM during one cycle for healthy adults 54 3.3.1 The feedback of the questionnaire from healthy adults 56 3.3.2 The feedback of the questionnaire from SCI patients 56 Chapter 4 Discussion 57 4.1 Stability of the Man-machine system 57 4.1.1 Critical ramp at a constant velocity with i-transport rehab 57 4.1.2 Critical acceleration on level ground with i-transport rehab 57 4.1.3 The acceleration on a ramp with i-transport rehab 58 4.2 Man-machine interface interactions 58 4.2.3 COM during one cycle 62 4.3 The feedback from the questionnaire 63 4.4 Limitations 63 Chapter 5 Conclusion 64 References 65 Appendix 71 Feedback from SCI patients 72 Safety feedback 72 Comfort feedback 72 Functional feedback 72

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