探討氣動軟式外骨骼於髖部施力對深蹲之影響

Abstract

本研究旨在開發以氣動人工肌肉驅動的穿戴式深蹲輔助裝置，針對年長者在深蹲訓練中面臨的肌力不足、關節負擔與穿戴舒適性等問題，提供安全且有效的輔助方案。裝置採用柔順且輕量的氣動人工肌肉作為致動元件，能在深蹲動作的適當時機提供輔助力，減少肌肉與關節負荷，提升動作穩定性與執行效率。 本研究首先設計裝置架構與控制邏輯，並進行人工肌肉性能測試與動作辨識系統建構。為驗證其實際效益，實驗以健康年輕人為對象，透過穿戴裝置進行深蹲訓練，量測不同條件下的下肢關節角度與肌電訊號變化。結果顯示，裝置並未明顯改變深蹲的動作幅度，但顯著影響其動作控制策略與肌肉激發表現。在裝置啟動條件下，使用者上升動作時間延長、角速度變化趨緩，顯示其傾向配合裝置施力節奏主動調整出力方式；同時，大多數肌群的激發程度亦呈現下降趨勢，反映出裝置在動作過程中具有實質的輔助效果。 整體而言，本裝置具備提升動作穩定性、減少肌肉負擔與促進協調出力的潛力，為未來應用於年長者訓練與復能領域奠定基礎。後續可進一步擴大受試族群、優化控制策略與進行長期使用觀察，以強化其臨床應用與日常實用性。

This study developed a wearable squat-assist device powered by pneumatic artificial muscles, aiming to support older adults who face muscle weakness, joint strain, and discomfort during squat training. The device uses soft, lightweight actuators to provide assistive force at appropriate movement phases, helping reduce muscle and joint load while improving stability and efficiency. The system was designed with a responsive control strategy and motion recognition capability. To evaluate its effectiveness, healthy young adults performed squats under different conditions while joint angles and EMG signals were recorded. Results showed that the device did not significantly change squat range of motion but noticeably affected motor control strategies. Users exhibited longer ascent durations and smoother angular velocity transitions, indicating active adaptation to the device's assistance. Most muscles showed reduced activation levels, reflecting the device's effective support during movement. Overall, the assistive device demonstrates potential in enhancing movement stability, lowering muscular effort, and encouraging more coordinated exertion. These findings provide a foundation for future applications in elderly exercise and rehabilitation. Further studies can expand to diverse user groups, refine control strategies, and explore long-term use in practical settings.