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研究生：	楊尉廷 Yang, Wei-ting
論文名稱：	開發模擬肩關節鬆動術之機器手臂控制系統 Develop A Robotic Manipulator Control System for Simulating Shoulder Joint Mobilization technique
指導教授：	張冠諒 Chang, Guan-liang 徐阿田 Hsu, Ar-Tyan
學位類別：	碩士 Master
系所名稱：	工學院 - 醫學工程研究所 Institute of Biomedical Engineering
論文出版年：	2007
畢業學年度：	95
語文別：	中文
論文頁數：	87
中文關鍵詞：	機器手臂、關節鬆動術
外文關鍵詞：	Translational mobilization technique, Robotic manipulator
相關次數：	點閱：68 下載：2
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關節鬆動術是骨科物理治療中常用的手法，用來治療關節活動度受限或夾擠症候群的患者，此治療術於臨床的測量時，常因為物理治療師施行的方法不同或測試者不同，導致變異性過大，量化的數據可信賴度低落。由於機器手臂的動作具有可重複性、精確度高、可塑性高的優點，因此開發一套機器手臂系統，模擬物理治療師的角色執行關節鬆動術，以降低臨床研究時量測數據的變異性。目前機械手臂硬體已經完成，但是缺乏適合的控制軟體，導致功能無法完全發揮，因此本研究的目的，是要開發一套機械手臂的軟體控制系統，讓機械手臂可以使用肩關節試體來模擬肩關節鬆動術，我們以現有硬體架構為基礎，做小幅度的硬體修改，接著以Visaul C++ 為開發工具，重新撰寫軟體控制系統。這套軟體整合了馬達控制、位置與角度測量、力量與力矩感測、檔案儲存、軌跡計算、手動學習，直覺化的視窗介面，不但易懂且方便操作，能夠進行肩關節的外展與內收、內轉與外轉、背向與腹向鬆動術。同時，使用機械式的球形關節模擬肩關節的外展與內收，對機械手臂的準確度與可重複能力做驗證。此軟體控制系統已大致開發完成，但在程式撰寫技術以及力量回饋的演算上尚有進步空間，未來將在這兩方面做改進。

Mobilization techniques are used frequently by physical therapists, osteopaths and orthopedic surgeons for treating joints with limited range of motion and impingement syndrome. However, because each physical therapist executes mobilization techniques with different way and each subject has different condition, the variability of clinical measurement data is usually large. The motion of robotic arm is repeatable and accurate. Therefore, our laboratory developed a robotic manipulator for simulating shoulder joint mobilization technique to decrease the variability of clinical measurement. The physical construction of robotic manipulator has been completed, but it lacked of proper software control system. The purpose of this study is to develop a software control system in Visual C++ 6.0 for this robotic manipulator with the primary objective of replacing physical therapist to execute shoulder joint assessment and mobilization technique in cadaver shoulder specimens.

The control system integrated motor control, position and angle measurement, force and torque acquisition, data saving, and trajectory calculating. With the intuitive window interface, it is easy to understand and use. The robotic manipulator can execute abduction and adduction, internal rotation and external rotation, dorsal and ventral translational mobilization. The functions of repeatability and accuracy are validated by using a ball-and-socket joint. Future effort will be devoted to the development of a force feedback control system and to restructure the control software based on a multithread platform.

摘要.............................................................................................................I
ABSTRACT..............................................................................................II
致謝.........................................................................................................III
目錄.........................................................................................................IV
表目錄....................................................................................................VII
圖目錄...................................................................................................VIII

第一章 緒論..............................................................................................1
1-1前言..............................................................................................1
1-2肩關節鬆動術..............................................................................2
1-3機器人的生物力學應用..............................................................5
1-4動機與目的................................................................................10

第二章 機械手臂系統的硬體架構........................................................12
    2-1機器手臂概觀與幾何學............................................................12
        2-1-1本實驗室的機械手臂.....................................................13
2-1-2定義座標.........................................................................16
2-2運動學方程式............................................................................19
        2-2-1正向運動學.....................................................................19
        2-2-2逆向運動學.....................................................................21
2-3控制系統硬體架構....................................................................26
    2-3-1機械手臂本體.................................................................28
        2-3-2控制箱.............................................................................30
        2-3-3高階控制器.....................................................................31
2-4硬體修改部分............................................................................32

第三章 軟體控制系統............................................................................35
    3-1軟體開發環境............................................................................35
    3-2控制軟體的需求........................................................................36
    3-3軌跡計算....................................................................................38
        3-3-1外展與內收.....................................................................40
        3-3-2背向與腹向鬆動術.........................................................45
        3-3-3內轉與外轉.....................................................................48
    3-4動作執行....................................................................................48
        3-4-1執行程序.........................................................................48
        3-4-2力量與力矩的限制.........................................................50
        3-4-3存檔機制.........................................................................51
    3-5手動學習....................................................................................53

第四章 測試結果....................................................................................54
    4-1軟體操作介面............................................................................54
4-2軌跡計算測試............................................................................56
4-2-1外展與內收的軌跡計算.................................................56
4-2-2背向與腹向鬆動術的軌跡計算.....................................58
4-3機械手臂運動測試…................................................................60
4-3-1準確度評估.....................................................................60
4-3-2可重複能力評估.............................................................64
4-4學習功能測試............................................................................65
    4-5球型關節模型測試....................................................................67
第五章 討論............................................................................................70
    5-1震動來源....................................................................................70
    5-2奇異位置....................................................................................71
    5-3控制軟體的改進空間................................................................76
        5-3-1迴轉半徑回授控制.........................................................76
        5-3-2學習功能檢討.................................................................77
5-3-3視窗凍結現象.................................................................78

第六章 結論與未來發展........................................................................79

參考文獻..................................................................................................81
附錄..........................................................................................................85
自述..........................................................................................................87
                                    

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校外：2007-08-08公開

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