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完整後設資料紀錄
DC 欄位 | 值 | 語言 |
---|---|---|
dc.contributor.advisor | 呂東武(Tung-Wu Lu) | |
dc.contributor.author | Hsing-Po Huang | en |
dc.contributor.author | 黃信博 | zh_TW |
dc.date.accessioned | 2021-06-16T17:19:03Z | - |
dc.date.available | 2025-03-06 | |
dc.date.copyright | 2020-04-13 | |
dc.date.issued | 2020 | |
dc.date.submitted | 2020-03-26 | |
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dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/63783 | - |
dc.description.abstract | 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。 | zh_TW |
dc.description.abstract | 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. | en |
dc.description.provenance | Made available in DSpace on 2021-06-16T17:19:03Z (GMT). No. of bitstreams: 1 ntu-109-F01548063-1.pdf: 12083550 bytes, checksum: 2622777a531da5a5bc1d9c8895c9b106 (MD5) Previous issue date: 2020 | en |
dc.description.tableofcontents | 中文摘要 ii Abstract iii Acknowledgements iv Table of Content v List of Figure viii List of Table xiv List of Abbreviation xv Chapter 1. Introduction 1 1.1 Overview 1 1.2 Spinal Cord Injury 2 1.1.1 Physiological Changes in Patients with SCI 2 1.1.2 Biomechanics of Patients with SCI During Functional Activities 3 1.1.3 Accident Prevention and Assistive Device of Patients with SCI 4 1.3 Wearable Lower-limb Robotic Exoskeleton 5 1.3.1 Previous Clinical Studies of WREs 6 1.3.2 Motion Analysis of Patients with SCI Using WREs 7 1.4 Approaches of Motion Analysis to Study WRE-assisted Motion 8 1.4.1 Crutches Forces and Upper Limbs Biomechanics 8 1.4.2 Kinematics of Trunk and Lumbar 9 1.4.3 Electromyography 10 1.4.4 Dynamic Stability 11 1.4.5 Mechanical Energy Expenditure 11 1.5 Biomechanics of WRE-assisted Sit-to-Stand 12 1.6 Biomechanics of WRE-assisted Stand-to-Sit 13 1.7 Aims of this Dissertation 15 Chapter 2. Materials and Methods 17 2.1 Ethics Statement 17 2.2 Subjects 17 2.3 Instruments 18 2.4 Experiments 20 2.5 Biomechanical Analysis Models 28 2.5.1 Coordinate Systems 28 2.5.2 Anthropometric Parameters 35 2.5.3 Inverse Dynamics Analysis 36 2.5.4 Body’s COM Model 43 2.6 Data Analysis 45 2.6.1 Definition of the Sit-to-stand Cycles 45 2.6.2 Definition of the Stand-to-sit Cycles 46 2.6.3 Kinematic Variables 47 2.6.4 Kinetic Variables 47 2.6.5 Mechanical Energy 48 2.6.6 COM-COP Variables 49 2.6.7 Electromyography (EMG) 52 2.6.8 Statistical Analysis 53 Chapter 3. Effects of Initial Setting of Wearable Robotic Exoskeleton on Balance Control and Energetics in Individuals with Spinal Cord Injury during Sit-to-stand 54 3.1 Subjects 55 3.2 Data Analysis 55 3.3 Results 57 3.3.1 Before Seat-off 57 3.3.2 After Seat-off 57 3.4 Discussion 68 3.4.1 Study Limitations 69 3.5 Conclusion 70 Chapter 4. Effects of Initial Setting of Wearable Robotic Exoskeleton on the Kinetics of Upper and Lower Limbs in Individuals with Spinal Cord Injury during Sit-to-stand 71 4.1 Subjects 72 4.2 Data Analysis 72 4.3 Results 73 4.3.1 Before Seat-off 74 4.3.2 After Seat-off 74 4.4 Discussion 88 4.4.1 Study Limitations 90 4.5 Conclusion 90 Chapter 5. Biomechanics of Successful and Failed Wearable Robotic Exoskeletons-assisted Sit-to-stand in Individuals with Spinal Cord Injuries 92 5.1 Subjects 93 5.2 Data Analysis 93 5.3 Results 94 5.3.1 Before Seat-off 95 5.3.2 After Seat-off 95 5.4 Discussion 110 5.4.1 Study Limitations 112 5.5 Conclusion 113 Chapter 6. Evaluation of Wearable Lower-Limb Robotic Exoskeleton-assisted Stand-to-sit Movement in Individuals with Spinal Cord Injuries 114 6.1 Subjects 115 6.2 Data Analysis 115 6.3 Results 116 6.4 Discussion 133 6.4.1 Study Limitations 135 6.5 Conclusion 135 Chapter 7. Conclusions and Suggestions 137 7.1 Conclusions 137 7.1.1 Effects of Initial Setting of Wearable Robotic Exoskeleton on Balance Control and Energetics in Individuals with Spinal Cord Injury during Sit-to-stand 137 7.1.2 Effects of Initial Setting of Wearable Robotic Exoskeleton on the Kinetics of Upper and Lower Limbs in Individuals with Spinal Cord Injury during Sit-to-stand 138 7.1.3 Biomechanics of Successful and Failed Wearable Robotic Exoskeletons-assisted Sit-to-stand in Individuals with Spinal Cord Injuries 139 7.1.4 Evaluation of Wearable Lower-Limb Robotic Exoskeleton-assisted Stand-to-sit Movement in Individuals with Spinal Cord Injuries 140 7.2 Suggestions and Further Studies 141 7.2.1 Clinical Applications 141 7.2.2 Future Work 141 Bibliography 143 Appendix: Publication 151 (A) Refereed Journal Article 151 (B) Proceeding Article and Conference Presentation 151 | |
dc.language.iso | en | |
dc.title | 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 | zh_TW |
dc.title | Biomechanics of Powered Exoskeleton-Assisted Sit-to-Stand and Stand-to-Sit Movement in Individuals with Spinal Cord Injury | en |
dc.type | Thesis | |
dc.date.schoolyear | 108-2 | |
dc.description.degree | 博士 | |
dc.contributor.coadvisor | 王廷明(Ting-Ming Wang) | |
dc.contributor.oralexamcommittee | 楊世偉(Sai-Wei Yang),陳祥和(Hsiang-Ho Chen),陳文斌(Weng-Pin Chen) | |
dc.subject.keyword | 動作分析,脊髓損傷,外骨骼,坐到站,站到坐,生物力學, | zh_TW |
dc.subject.keyword | Motion analysis,Spinal cord injury,Exoskeleton,Sit-to-stand,Stand-to-sit,Biomechanics, | en |
dc.relation.page | 153 | |
dc.identifier.doi | 10.6342/NTU202000031 | |
dc.rights.note | 有償授權 | |
dc.date.accepted | 2020-03-26 | |
dc.contributor.author-college | 工學院 | zh_TW |
dc.contributor.author-dept | 醫學工程學研究所 | zh_TW |
顯示於系所單位: | 醫學工程學研究所 |
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