手推式輪椅(Manual wheelchair)為常見之行動輔具，由相關文獻知，輪椅使用者以肩關節發生疼痛與疾病之機率最高。輪椅與使用者之間若能有一較佳之配合，則能使輪椅使用者的傷害減小，並達到省力效果。本研究之主要目的乃藉由輪椅的尺寸設計，以期能夠降低輪椅使用者的上肢傷害、不舒適度與關節負荷，並達到省力的功效。

本文首先介紹人體上肢主要之骨頭、關節的構造與機能，藉此而得各關節之自由度，並列出各關節角運動範圍之限制。再建立模擬人體上肢驅動輪椅時之空間SURR四連桿機構之模型，並推導出其位移閉和解。接著建立其靜力分析模式，並對一輪椅進行靜力分析及探討坡度對關節負荷及驅動扭矩的影響。另外，本文改良相對不舒適度指標(Relative discomfort score)，而提出相對不舒適度函數，並以這些模式為基礎，分別以降低相對不舒適度、減少上肢關節負荷、及省力等為目標，進行輪椅尺寸之最佳設計。

本文推導之SURR四連桿機構的閉和解、靜力分析模式與相對不舒適度函數，可供設計者進行設計與分析，且有助於探究輪椅使用者上肢傷害的可能原因。所採用之輪椅尺寸之最佳設計模式，可供設計者參考與使用。因此本文所得成果於學術及應用上均有其參考價值。

Manual wheelchairs are used extensively by handicaps or the injured. According to the existing reports, shoulder injuries happened very frequently among manual wheelchair users. If the dimensions of manual wheelchairs are properly design, the discomfort, joint loads and driving torques may be reduced; and it is the main purpose of this study.

A model of the spatial SURR four-bar mechanism is proposed to simulate the motion of the upper extremity propelling a manual wheelchair. Closed-form solutions of the mechanism displacements are derived, and a model for the static analysis of the mechanism is also developed. Relative discomfort functions of the angular displacements of the upper extremity are proposed. Based on these, models for the optimal dimensional synthesis of manual wheelchairs for reducing each one of relative discomfort, joint loads, and driving torques, or reducing all of three, respectively, are developed. Examples are included to demonstrate the usages and to check the correctness of the proposed models.

The proposed models can be used to analyze the motion and loads of the upper extremity and to design the manual wheelchairs. It is believed that they are valuable in both of the academic field and industrial applications.

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