無重量塊之二頭肌訓練及復健機構設計

Abstract

本論文提出可在同一裝置做上肢訓練及復健的設計，在上臂固定情況下，此上肢活動具有一個肘關節的自由度，並以二頭肌訓練及復健為示範例。研究目的是希望能開發出一種裝置，在肌肉訓練時如同重量塊可以提供一個穩定的力而且沒有慣性的影響，在復健時避免使用致動器來控制輔助力之大小。在肌肉訓練及復健下，分別定義並區分二頭肌、三頭肌、前臂重量及裝置對於肘關節所造成之力矩。提出一現有靜平衡橢圓規機構利用，將人體運動之力或手臂重量當作靜平衡機構之負載重量，因此機構可提供等同於重量訓練塊提供之力，卻無慣性所造成之負面影響，亦可根據復健程度不同，平衡部分或全部手臂重量。 以二頭肌肌肉訓練為例，裝置最小彈簧常數可以藉由靜平衡公式，給予手臂長度範圍及重量、設定訓練重量範圍及訓練重量級距來得到。使用者可以根據不同訓練重量需求來調整彈簧接點位置，本文亦藉由模擬來驗證裝置和重量塊對肘關節所造成之力矩為相同。以二頭肌復健為例，裝置最小彈簧常數以相似之過程藉由靜平衡公式，給予手臂長度範圍及重量、設定待平衡之手臂重量及其級距來得到。使用者可以根據不同復健程度來調整彈簧接點位置，藉由模擬來驗證復健過程中手臂重量對於肘關節之力矩確實下降。此裝置之設計亦可推廣至三頭肌之訓練及復健。

The purpose of this thesis is to propose exercise/rehabilitation of human upper limb can be performed within the same device. Direction and magnitude among torques and forces applied by muscle, weight of forearm and device are identified and distinguished during upper limb exercise/rehabilitation motion respectively. Instead of using weight stacks, an elliptical trammel type statically balanced mechanism (SBM) with link-collinear springs is used such that an equivalent force provided by weight stacks can be obtained. Device for biceps exercise is used as an illustrative example. By given range of length and mass of forearm, desired range of exercise weight and increment of weight adjustment, minimum spring stiffness is determined. Therefore, different exercise weight can be performed by adjusting spring attachment point. It’s verified that torques during exercise provided by the device and by weight stacks are the same. Device for biceps rehabilitation is by given range of length and mass of forearm, desired range of weight and percentage of forearm weight to be balanced and increment of percentage adjustment, minimum spring stiffness is determined. Therefore, less weight of forearm rehabilitation can be performed by adjusting spring attachment point. It’s also verified that less torques on elbow joint during rehabilitation motion.