日常生活中，人體的上肢擔負著完成許多動作的重要功能。當設計用上肢所驅動的物件(如輪椅及運動器材等)時，若要得到較佳的設計，應建立上肢在驅動該物件過程中，其整體的設計與分析模式，以了解上肢在該過程中，各關節的運動與驅動力之情形，進而可評估所設計出的物件性能之優劣。
本文的主要目的是在假設肩部不動，且動作緩慢而可忽略慣性的影響，另外，亦忽略關節黏滯力與肌腱作用等前提下，提出一上肢的骨骼模型，並分別針對上肢驅動輪椅及一復健機械手，建立其運動及負荷分析模式。首以一空間S-SUCr-U運動鏈為基礎，建立上肢肩關節至腕關節之間的骨骼模型，再分別以2自由度空間RU-SUCr-S機構模擬上肢驅動輪椅，及用3自由度空間FR-SUCr-S機構模擬上肢驅動復健機械手而帶動其手部作不同的直線軌跡運動時的模型。本文將先以齊次坐標轉換矩陣分別建立其位移分析模式，不僅求出其數值解，亦使用一CAD軟體驗證之，進而以牛頓運動定律建立其負荷分析模式，並進行實例分析，說明所建立各模式的使用及顯示其分析結果。接著針對上肢驅動輪椅，應用最佳設計的方法，分別以降低相對不舒適度及關節負荷為目標，決定上肢驅動輪椅時的合理運動模式。
本研究針對上肢骨骼進行了模擬與分析，若能加上肌肉系統，可進一步建立上肢的骨骼肌肉模型；若能再與醫療、健身、及手工具等器械的設計與分析模式相整合，應能設計製作出更佳的產品。

Upper limbs have very important functions on accomplishing many daily activities. In order to have better designs of the objects which are driven by upper limbs (such as wheelchairs, or exercise trainers, etc.), the model of the upper limb should be developed and be integrated with those for the design and analysis of the objects, so as to have better investigation and evaluation of their characteristics.
The main purpose of this study is to develop models for the kinematic and loading analyses of the upper extremity in wheelchair propulsion and rehabilitation robot training, with the assumptions that the shoulders are kept fixed, the motion is slow, the viscous force and the tendon influence are ignored. Firstly, the upper extremity skeleton model from the shoulder joint to the wrist joint is proposed based on a spatial S-SUCr -U kinematic chain. The spatial RU-SUCr-S mechanism, which has 2 DOF, is used to simulate an upper limb propelling one side of a wheelchair; furthermore, a spatial FR-SUCr-S mechanism is adopted as the model of the wrist operating a rehabilitation robot with linear orbits. Their kinematic analysis models are developed by using homogeneous transform matrix. Except solving the equations with numerical techniques, the solutions are also checked with those gotten by using commercial CAD software. Consequently, the models for the loading analysis of the mechanisms are also built based on Newton’s laws of motion. Furthermore, wheelchair propulsion and rehabilitation robot training are adopted as the examples to demonstrate the usages of the models developed and to show the results of the analyses. Based on the models of the kinematic and loading analyses of the RU-SUCr-S mechanism, a model for using optimization techniques to determine the relations between 2 DOF of the mechanism is built in order to get reasonable postures of the upper extremity in wheelchair propulsion. Except necessary constraints considering the requirements of simulating an upper limb propelling a wheelchair, two objective functions of minimizing the joint torques and minimizing discomfort scores are applied.
The results of this study provide a base for developing musculoskeletal models of upper limbs. If they can be integrated with the design and analysis models of medical instruments, body-fitness trainers, hand tools, etc., it should be helpful to develop better products of theirs.

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