具運動相容性之重力平衡手肘外骨骼設計

Abstract

運動相容性為使用外骨骼運動過程中，上肢與外骨骼之連接桿件不會產生相對位移。本論文提出具運動相容性之重力靜平衡上肢外骨骼的設計方法。將上肢與外骨骼之連接桿件定義為同一桿件形成一封閉迴路，安裝外骨骼前後之運動自由度相等，計算可得外骨骼接頭自由度之總和與上肢運動自由度相等，上肢運動自由度為上肢之平移與旋轉自由度之總合，外骨骼接頭之位置、方向與上肢相同。限制在不同運動自由度下使用之接頭種類、數量與排列順序可得具有及非具有提攜角之手肘、肩膀、手臂所有型態之外骨骼。由上肢運動範圍可得外骨骼之桿件長度。系統中總位能不隨機構運動改變即達到重力靜平衡，不同提攜角下彈簧安裝位置不同，以平均提攜角計算手肘外骨骼對應之彈簧彈性係數、彈簧安裝位置。提攜角造成彈簧在相異平面而對外骨骼產生偏擺、翻轉力矩，以adams模擬上肢具提攜角使用外骨骼作垂直面及水平面手肘屈伸運動下外骨骼承受之偏擺、翻轉力矩，驗證外骨骼應用之可行性。

In this thesis, a design methodology of kinematic compatible and gravity balanced exoskeleton is presented. Kinematic compatibility is human using exoskeleton, relative motion between human arm and attachment links of exoskeleton does not exist. By taking human arm and attachment links of exoskeleton as the same links, human arm and exoskeleton becomes a close loop. And the operating degree-of-freedoms before and after installing exoskeleton to human arm must equal to each other. By Gruebler's equation, sum of degree-of-freedom(DOF) of exoskeleton joints equals to the operating degree-of-freedom of human arm. Operating degree-of-freedom of human arm is sum of number of rotation axes and translation axes of human arm. Location and orientation of exoskeleton joints are parallel to rotation axes and translation axes of human arm. Limiting numbers, kinds and series of exoskeleton joint in different operating degree-of-freedom of human arm gets all possible exoskeletons for elbow with or without carrying angle, shoulder and arm. By range of motion of human arm determining length of exoskeleton links. Carrying angle effects spring attachment locations, using mean carrying angle determining spring constants, spring attachment locations and yaw and roll torques on exoskeleton since springs are on different rotation planes. Simulation by adams determines the yaw and roll torques on exoskeleton joints in elbow with carrying angle in flexion-extension motion in sagittal and transverse planes to verify feasibility of kinematic compatible gravity balanced elbow exoskeleton.