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研究生： 邱傳維
Chiu, Chuan-wei
論文名稱： 助行器使用者之關節動態扭矩評估
The assessment of dynamic torques on joints for walking-aid users
指導教授： 田思齊
Tien, Szu-Chi
學位類別： 碩士
Master
系所名稱： 工學院 - 機械工程學系
Department of Mechanical Engineering
論文出版年： 2018
畢業學年度： 106
語文別： 中文
論文頁數： 70
中文關鍵詞： 助行器 、拉格朗日力學 、行走運動狀態量測 、關節動態扭矩評估
外文關鍵詞： walking-aid system, Lagrangian mechanics, walking motion state measurement, assessment of dynamic torques on joints
相關次數： 點閱：163  下載：10 
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    • 本研究建立一供單邊下肢受傷患者使用的助行器系統。助行器由帶有動力的底部驅動平台與攙扶握桿組合而成，配合人體上的感測裝置，可在使用者自由行走的情況下，即時記錄使用者之行走運動狀態資訊。經由動力學分析將運動狀態資訊評估成使用者關節動態扭矩。在人體狀態資訊方面，以七組陀螺儀配合微分估測器得出人體主要部位之關節角度、角速度、角加速度。以力敏電阻量測腳底正向力，並搭配等效面積的概念，以簡化腳底受力模型。為不影響使用者行動，用無線雙藍牙主機無線傳輸感測器數據，解決單一主機連線數量不足問題。在動力學分析方面，以拉格朗日力學對系統進行分析。整體程序包含感測器量測、數據傳輸、動力方程式計算皆可在程式中斷(即0.2s)內完成。實驗結果顯示，人與助行器系統建立之人體狀態資訊和評估出的動態關節扭矩有一定程度的可信度。

    The main purpose of this study is to establish a walking-aid system for hemiparesis people in one of their lower limbs. The system consists of a powered base and a grip stick. By wearing motion sensors, motion states of the user can be recorded and the torques on joints can be assessed via dynamics analysis in real time as he (or she) walks. For motion states measurements, angles, angular velocities, and angular accelerations of the user's main joints are measured with seven gyroscopes augmented with differential estimator. On the other hand, normal forces on the soles of feet are measured with force sensitive resistors, and a concept of equivalent area is utilized to simplify the model of force distribution on feet. In order not to interfere users' movement, transmission of sensor data is conducted via wireless Bluetooth technology in a dual-master configuration such that the problem of connection deficiency in a single-master case can be solved. As for dynamics analysis, Lagrangian mechanics is used to analyze the user-to-walking-aid system. The overall process including signal sensing, data transmission and dynamic equation calculation can be done within one control interrupt period (i.e. 0.2s). Experimental results show that, based on the user-to-walking-aid system, both measured motion states and assessed dynamic torques on user's joints are in a certain degree of credibility.

    圖目錄. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii 表目錄. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . vi 符號表. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . vii 第一章緒論. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 第二章人與助行器系統介紹. . . . . . . . . . . . . . . . . . . . . . . . . . 4 第三章人與助行器系統分析. . . . . . . . . . . . . . . . . . . . . . . . . . 8 3.1 模型參數. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 3.2 動力學分析. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 第四章感測器測試. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 4.1 陀螺儀. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 4.1.1 陀螺儀原理與測試. . . . . . . . . . . . . . . . . . . . . . . 20 4.1.2 數據傳輸方法. . . . . . . . . . . . . . . . . . . . . . . . . . 23 4.2 力敏電阻(FSR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 4.2.1 力敏電阻參數校正. . . . . . . . . . . . . . . . . . . . . . . 29 4.2.2 力敏電阻使用情境. . . . . . . . . . . . . . . . . . . . . . . 31 第五章實驗與討論. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 5.1 實驗設備與架構. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 5.1.1 硬體. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 5.1.2 軟體. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 5.1.3 受測者參數與實驗環境. . . . . . . . . . . . . . . . . . . . . 48 5.2 實驗結果與討論. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 第六章結論與未來展望. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66 6.1 結論. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66 6.2 未來展望. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66 參考文獻. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68

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