有許多用人體的上肢操作的器械，如各式手工具、輔具、及健身器
材等。若有可靠的上肢模型，而得與這些器械原本的設計及分析模式整
合，應可設計而製作出更好用者。
本研究的目的為建立一 SUU 上肢肌肉骨骼模型，再以其應用於上肢
驅動輪椅及復健機器手，並分別建立其肌肉路徑、肌力及關節負荷分析
模式。首先考慮上肢十九條肌肉，並分別將其以線段視之，而其肌肉路
徑則以繞過四種不同之障礙物，分別建立其肌肉路徑的分析模式，而可
得肌肉長度及其重要之特徵點位置。接著使用所建立的SUU 骨骼肌肉模
型，以二次規劃(Quadratic programming)建立一肌肉激發程度的分析模式，
根據此模式可得肌肉作用於骨骼的肌力。最後，再根據牛頓運動定律，
建立關節負荷的分析模式，以了解在肌力作用下，關節所承受的負荷。
另外，針對上肢驅動輪椅及復健機器手，分別以實例說明各分析模式的
使用，及顯示其分析結果。
本研究建立之 SUU 上肢肌肉骨骼模型及相關的分析模式，可用於分
析上肢的運動、肌力及關節負荷等，可供手動器械設計者進行其更完整
的設計與分析，且有助於探討上肢使用這些器械可能受傷的原因。

There are many gears, such as hand tools, assisting devices, body-fitting
equipments, and so on, which are operated by upper limbs of humans. If
there exists a reliable model of the upper limb, and can be integrated with
those for the design and analysis of the gears, then their better products should
be able to been designed and developed.
The purpose of this study is to propose a SUU musculoskeletal model of
the human upper limb, then apply it to develop the models for the muscular
path, muscular force, and joint load analyses during propelling wheelchairs
and operating a rehabilitation robot. Nineteen muscles are considered within
the model, each of them is treated as one or several string-type muscles. The
Obstacle-set method is adopted, including four types of obstacles, to build the
model for the determination of the muscular paths and muscular lengths.
Regarding the muscle activation analysis, it is constructed as a quadratic
programming problem; consequently, the muscular forces can be determined.
The second Newton’s law is applied to develop the model of the joint load
analysis. Furthermore, propelling wheelchairs and operating a rehabilitation
robot are used as examples to show the usages of the models developed and to
display the analysis results.
The proposed SUU musculoskeletal models can be used to analyze the
motion, muscular force and joint load of the upper limb, which should have
aids on better designing of hand operating devices, and on investigating the
injuries of upper limbs due to the operation of these instruments.

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