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研究生：	林世偉 Lin, Shi-Wei
論文名稱：	設計及發展一套機器手臂系統模擬關節鬆動術 Design and Develop A Robotic Manipulator for Simulating Translational Mobilization Technique
指導教授：	張冠諒 Chang, Guan-Liang 蔡清元 Tsay, Tsing-Iuan 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：	2003
畢業學年度：	91
語文別：	英文
論文頁數：	66
中文關鍵詞：	生物力學、模擬、關節鬆動術、機器手臂
外文關鍵詞：	robotic manipulator, translational mobilization, simulating, biomechnics
相關次數：	點閱：67 下載：5
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為治療關節活動不良或夾擠症候群的患者，關節鬆動術是骨科物理治療師所廣泛使用的。而過去關於此的文獻也指出此治療術在施行和量測時總會遭遇到不同時段與不同測試者間之變異性過大的問題。其中臨床量測工具與物理治療師執行時所產生準確性與可信性不足的缺陷可由一高準確性與可重複性之機器手臂取代，以降低臨床研究時量測變數之變異性。
因此，設計及發展一套機器手臂系統，用來模擬關節鬆動術是我們研究的最終的目的。而在目前的研究中，我們主要專注在設計與製造，並進行初步的測試。設計的過程中，除了決定機構形式、各軸扭矩、馬達容量以及各連桿的尺寸結構外，在製造的過程時，我們仍需不斷的解決突如其來的問題。而在初期的實驗中，主要是以機器手臂的測試和肩部關節試件為主，主要是為了印證我們所製造的機器人，其可行如何。而其中還有許多缺點尚需解決，在未來的研究中，我們會以控制系統的發展為主要的路線，進而應用在生物力學上。

Mobilization techniques are frequently used by physical therapists, osteopaths and orthopedic surgeons to treat joints with limited range of motion (ROM) and impingement syndrome. However, the theories behind translational joint mobilization have not been proven empirically and more regarded as a therapeutic art rather than therapeutic science.
Although clinical efficacy studies will provide the ultimate answer to the question shrouding the usefulness of the joint mobilization/manipulation techniques for joint hypomobility, however, it is plagued by numerous pitfalls and the resultant large inter-subject and inter-session variability. The source of error attributable to the examiner, however, could be reduced with the use of a robotic manipulator to simulate the movement of the therapist. The purpose of this research is to design and develop the robotic manipulator system to practice the translational mobilization technique.
The design process, we need to validate the mechanism type, to decide the parameter about the torques in each joint, the mechanical structures and dimensions of each link, the transmission design, and all of the sensors in this robotic manipulator etc. Besides this, we must solve any thing about robot design when manufacturing the robotic manipulator. In the experiment, the robot test and specimen test are to prove that the robotic manipulator could be used in simulating the translational mobilization. In the future work, we will devote every effort to develop our control system.

中 文 摘要..............I
ABSTRATCT...............II
致 謝...................III
CONTESTS................IV
LIST OF TABLES..........VII
LIST OF FIGIRES.........VI
Chapter 1 Introduction....................................1
1.1	Joint Mobilization....................................2
1.2	Robotic Background and Development...................4
1.3	Robotic Manipulator in Biomechanics..................6
1.4	Motivation and Purpose...............................8
Chapter 2  Robotic Manipulator Design........................10
2.1	Robotic Design.......................................10
2.1.1	Introduction.........................................10
2.1.2	The Necessary for Translational Mobilization.........11
2.1.3	Joint Torque.........................................14
2.1.4	Motor Capacity.......................................17
2.1.5	Structure of Link....................................17
2.1.6	Transmission Type....................................18
2.1.7	Peripheral Sensor....................................18
2.2	Defining Coordinate and Analysis.....................19
2.3	Kinematic Equation...................................23
2.4	Inverse Kinematic Equation...........................25
Chapter 3  Material and Method...............................30
3.1	Robotic Manipulator System...........................30
3.1.1	Robotic Body.........................................31
3.1.2	System Box...........................................32
3.1.3	Interface System.....................................32
3.1.4	Universal Force Sensor...............................33
3.2	Universal Force Sensor Calibration...................36
3.3	Robotic Manipulator Test.............................38
3.4	Specimen Test........................................40
Chapter 4  Result and Discussion.............................43
4.1	The Robotic Manipulator..............................43
4.1.1	The Belt Transmission Device.........................43
4.1.2	The Robot Specifications.............................45
4.2	The Result of Universal Force Sensor Calibration.....49
4.3	The Robot Test.......................................51
4.4	The Specimen Test....................................55
Chapter 5  Conclusion and Future Work........................56

REFERENCES...................................................57
APPENDIX.....................................................61
自述
著作權聲明
                                    

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校內：2004-08-26公開
校外：2004-08-26公開

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