輪椅為下肢行動不便者主要之行動輔具，輪椅之驅動全依賴上肢動作的施力，因此上肢關節傷害與疼痛為輪椅長期使用者常見之問題，目前市面上雖有電動輪椅可供選擇，但多數使用者因價格因素仍使用一般輪椅，因此分析使用輪椅對上肢的影響非常重要，了解上肢負荷之模式將有助於設計減少關節負荷、省力最佳化之輪椅。
本文嘗試以慣性感測器取代一般常用之光學式動作擷取系統進行研究，首先介紹運動感測器製作、微控制器程式撰寫、感測器校正方法、實驗量測方法，接著進行上臂姿態角量測，記錄驅動輪椅時上臂姿態之尤拉角。並介紹上肢各骨骼與關節，說明各關節自由度、運動範圍，再根據各關節自由度為其選擇相同自由度之機械接頭，建立SRSR多自由度空間機構作為上肢推動輪椅的分析模型，接著為其建立運動坐標系、推導坐標轉換關係與閉合方程式、機構合成方法，並介紹使用MATLAB與LM演算法計算接頭位移之方法，再以上臂姿態角量測資料作為機構模型之位移輸入、合成機構模型，進行上肢推動輪椅之軌跡、位移分析。接下來推導靜力平衡方程式，定義力矩軸向，分析輪椅行進阻力，接著以位移分析之結果進行輪椅行進於無坡度與無障礙坡道之上肢運動靜力分析(Kinetostatics)。
本文建立之SRSR上肢驅動輪椅模型與靜力分析模式，可幫助研究者了解輪椅行進於無坡度路面或無障礙斜坡時上肢負荷、力矩之情形，分析之結果說明坡度對關節的負荷、上肢驅動力矩影響極大。本研究以慣性感測器製作運動感測器取代光學式動作擷取系統之量測，模型之位移分析結果證明其為可行之方法，且具高成本效益，深具發展潛力。

The objectives of this study are to use mechanism analysis and inertial sensor-based motion capture system as an inexpensive alternative solution to optical motion capture system, and provide informations of upper limb joint loads during wheelchair propulsion which would be practical to wheelchair design with lower man power and joint loads.
A measurement system and upper limb/wheelchair spatial mechanism model for analyzing upper limb joint loading during the push phase of manual wheelchair propulsion was developed. The measurement system was based on MEMS inertial sensor. It consisted of one triaxial accelerometer and one triaxial rate gyroscope, and a micro control unit (MCU) for receiving informations from inertial sensing units. The upper limb/wheelchair system is a closed-loop kinematic chain, sensors can be placed on upper arm to obtain kinematic data for calculating attitude angles of upper arm. The measurements from sensor were transmitted to computer through MCU for upper limb joint forces analysis. The upper limb/wheelchair spatial mechanism model in the study is SRSR spatial mechanism, it consisted of four linkages and two ball-and-socket joints and two revolute joints. The mechanism model can analyze joints angular displacement and trajectory using homogeneous coordinate transformation matrices, joint loads, driving moments and resisting moments by kinetostatics analysis.
Experiments were done with a healthy volunteer. The result of angular displacement shows high accurate of measurement system, and the results of kinetostatics analysis indicate that the slope of ground surface has significant effect to the increase in joint loads and moments.

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