請用此 Handle URI 來引用此文件:
http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/63783
標題: | 脊髓損傷者使用行動輔助外骨骼機器人坐到站及站到坐之生物力學研究 Biomechanics of Powered Exoskeleton-Assisted Sit-to-Stand and Stand-to-Sit Movement in Individuals with Spinal Cord Injury |
作者: | Hsing-Po Huang 黃信博 |
指導教授: | 呂東武(Tung-Wu Lu) |
關鍵字: | 動作分析,脊髓損傷,外骨骼,坐到站,站到坐,生物力學, Motion analysis,Spinal cord injury,Exoskeleton,Sit-to-stand,Stand-to-sit,Biomechanics, |
出版年 : | 2020 |
學位: | 博士 |
摘要: | 對於脊髓損傷患者來說,能夠進行坐到站與站到坐這兩種動作才能夠接續進行行走及其他後續運動;因此,恢復此兩項動作功能是脊髓損傷患者之重要的復健項目。藉由外骨骼系統,脊髓損傷患者可以在日常居家生活及醫療機構進行坐到站與站到坐等動作,並藉此完成其他功能性動作。利用動作分析研究方法探討脊髓損傷者使用行動輔助外骨骼機器人坐到站及站到坐之生物力學研究結果,有助於提供未來使用外骨骼之復健建議、了解使用外骨骼之動作策略、預防跌倒受傷及改善外骨骼之設計。本研究已建立脊髓損傷患者使用外骨骼機器人進行坐到站及站到坐之完整下肢運動學及力動學、上肢力動學、骨盆及軀幹運動學、全身平衡控制、機械能消耗,以及肌肉電訊號等資料。本研究結果顯示,於患者使用外骨骼進行坐到站時,設定較大之初始外骨骼髖關節角度及較小之角速度,可利於在動量轉換及身體平衡間取得較佳之平衡,並且能夠使患者更易於操作拐杖。而本研究更進一步發現患者在使用外骨骼進行坐到站之過程中,產生較大之軀幹彎曲角速度可以降低上肢肌肉之負荷及機械能消耗,並增加軀幹角動量及身體傾斜角度;反之,較小之軀幹彎曲角速度可能導致坐到站過程中失去平衡並向後跌倒。此外,於患者使用外骨骼進行站到坐時,設定較小之初始外骨骼髖關節角度及較大之角速度,可誘發上肢及軀幹之肌肉,並降低臀部碰觸椅面時之反作用力。透過本研究之結果,建議未來脊髓損傷患者使用外骨骼進行坐到站及站到坐等動作時,對於外骨骼之初始設定可依據自身身體條件及復健目的進行調整,可使得使用過程中得到較佳之使用效率或是降低使用過程中之風險。 Sit-to-stand (SitTS) and Stand-to-sit (StandTS) are prerequisites to walking and important parts of rehabilitation for people with SCI. Wearable lower-limb robotic exoskeleton (WRE) could be used to assist patients with Spinal cord injury (SCI) to complete SitTS and StandTS in the home or medical facility. Investigation of biomechanics during WRE-assisted SitTS and StandTS in patients with SCI may help provide the suggestion to future rehabilitation, discover the effects of different setting to the motion strategy of the user, prevent users from risk and injury, and improve the design of the WRE. The work was carried out by a series of studies on the lower limb kinematics and kinetics, upper limb kinetics, pelvic and trunk motion, whole-body balance control, mechanical energy expenditure, and EMG in the WRE-assisted SitTS and StandTS in patients with SCI. The results showed that a greater initial hip angle with smaller initial angular velocity may provide a favorable compromise between momentum transfer and balance of the body, and facilitate the use of crutch for people with SCI during WRE-assisted SitTS. This study also suggested that greater trunk angular velocity helped reduce the muscle effort and mechanical energy with increased trunk angular momentum and IA, while smaller trunk angular velocity could lead to failure of SitTS. However, a smaller initial hip angle with greater initial angular velocity could induce the use of upper limb and trunk muscle, and decrease the impact of the hip on the seat for people with SCI during WRE-assisted StandTS. The current results suggest that when using the WRE to apply SitTS/ StandTS, the setting of the initial hip angle and velocity should depend on self-physical conditions and rehabilitation purposes for efficient SitTS/ StandTS for themselves. |
URI: | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/63783 |
DOI: | 10.6342/NTU202000031 |
全文授權: | 有償授權 |
顯示於系所單位: | 醫學工程學研究所 |
文件中的檔案:
檔案 | 大小 | 格式 | |
---|---|---|---|
ntu-109-1.pdf 目前未授權公開取用 | 11.8 MB | Adobe PDF |
系統中的文件,除了特別指名其著作權條款之外,均受到著作權保護,並且保留所有的權利。