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完整後設資料紀錄
DC 欄位 | 值 | 語言 |
---|---|---|
dc.contributor.advisor | 王富正 | zh_TW |
dc.contributor.advisor | Fu-Cheng Wang | en |
dc.contributor.author | 潘威仁 | zh_TW |
dc.contributor.author | Wei-Ren Pan | en |
dc.date.accessioned | 2023-10-03T17:43:41Z | - |
dc.date.available | 2023-11-10 | - |
dc.date.copyright | 2023-10-03 | - |
dc.date.issued | 2023 | - |
dc.date.submitted | 2023-08-11 | - |
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dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/90811 | - |
dc.description.abstract | 本論文整合動力輔助系統和慣性量測單元 (Inertial measurement unit;IMU) 進行中風步態復健及IMU之平衡量測應用。內容主要分為兩部分,第一部分為延續先前的移動式步態自動化步態訓練機,結合神經發展治療 (Neuro Developmental Treatment;NDT) 理論,並整合動力輔助系統,對中風患者進行復健。第二部分為IMU之量測應用,透過不同族群受測者(瑜珈老師或老年人)的平衡能力測試,並嘗試分析不同族群之間與平衡能力之間的關聯。
NDT步態訓練使用正確的姿勢與動作,重複訓練患者的步態,讓患者學習控制肌肉的正確模式。但在臨床復健的過程,這樣的手法對於復健師是相當大的負擔,耗費體力又花費大量時間。本實驗室為了提高復健效率,實驗室學長們先前開發了移動式自動化NDT步態訓練機,改善患者的步態運動表現。本論文接續移動式自動化NDT步態訓練機的研究,開發一套動力輔助系統,不只降低復健師負擔,也降低中風患者復健的體力負擔,以進行長時間的復健。 根據先前研究,自動化NDT步態訓練機對患者的左右腳擺動期對稱性、骨盆橫向偏移、腰部旋轉角度皆有良好改善,而中風患者因患側邊無力,無法正常推動訓練機,故本論文提出的動力輔助系統讓患者專注在步態訓練上,並建立平均行走速度指標,最後整合步態訓練機與動力輔助系統進一步提升步態訓練效果。 平衡能力不佳對於跌倒的預測是相當重要的指標,可以利用特定訓練來預防跌倒風險,我們應用IMU來量測不同族群受測者在單腳站立測試與平衡板動態測試期間的平衡能力,並區分瑜珈老師與一般人的平衡能力,隨後嘗試歸納不同年齡族群與平衡能力之間的關聯。 | zh_TW |
dc.description.abstract | This thesis integrates a powered assistance device and inertial measurement unit (IMUs) for stroke gait rehabilitation and balance evaluation. The thesis consists of two parts. The first part continues previous research using a mobile rehabilitation trainer, combining the Neuro-Developmental Treatment (NDT) theory with a power-assisted system for stroke rehabilitation. The second part applies IMUs to evaluate balance abilities among different groups.
NDT gait training aims to train patients' gait with minimum intervention. Though NDT is effective in stroke rehabilitation, it requires significant physical effort and time for therapists. Therefore, our laboratory developed a mobile rehabilitation trainer that could relieve the therapists' workload by automatically repeating the NDT intervention. However, we also noted that pushing the trainer was a task for patients who might have sufficient force due to paralysis caused by strokes. Therefore, this integrates the mobile trainer with a power-assisted device to reduce the stroke patients' burden during NDT training. We recruited healthy subjects and patients with stroke to test the trainer. During the tests, we measure their kinematic data and evaluate the subjects’ swing phase, lateral pelvic displacement, pelvic rotation, and walking speeds. The results demonstrate the effectiveness of the power-assisted trainer. Poor balance ability is an important indicator for potential falls, which could be prevented through specific training. Therefore, we applied IMUs to measure balance abilities among different groups by the single-leg standing and dynamic balance board tests. The results show that the yoga instructors tended to have better balance than the age-matched controls, while the elders tended to have poor balance than the young controls. And the yoga instructors had better balance ability than the young healthy controls, possibly because of the professional training on .... These findings can be applied to design suitable exercises for the elders to prevent potential fallings. | en |
dc.description.provenance | Submitted by admin ntu (admin@lib.ntu.edu.tw) on 2023-10-03T17:43:41Z No. of bitstreams: 0 | en |
dc.description.provenance | Made available in DSpace on 2023-10-03T17:43:41Z (GMT). No. of bitstreams: 0 | en |
dc.description.tableofcontents | 致謝 I
摘要 III ABSTRACT V 目錄 VII 圖目錄 XIII 表目錄 XXI 符號 XXIII 縮寫 XXIX 第一章 序論 1 1.1 前言 1 1.2 研究動機與方法 2 1.3 文獻回顧 3 1.4 論文架構 8 第二章 移動式自動化NDT步態訓練機 11 2.1 移動式步態訓練機之系統架構 11 2.2 移動式步態訓練機之硬體架構[33] 12 2.3 動態捕捉系統硬體元件 15 2.3.1 穿戴式步態量測系統硬體元件 16 2.3.2 絕對型編碼器 17 2.4 馬達拉繩系統硬體元件 18 2.4.1 微處理器 18 2.4.2 馬達與驅動器 19 2.4.3 拉繩機構 20 2.4.4 力量感測器 22 2.5 供電系統 25 2.6 安全系統設計 25 第三章 馬達拉繩訓練系統 29 3.1 系統識別介紹 29 3.2 馬達拉繩系統之系統識別 31 3.3 標稱系統選定 33 3.4 強韌控制之設計理論 36 3.5 強韌控制器之設計 50 3.6 前置補償器之設計 52 3.7 實驗與模擬結果 54 第四章 動力輔助裝置 59 4.1 研究動機與背景 59 4.2 動力輔助裝置之系統架構 60 4.3 動力輔助裝置之硬體架構 61 4.4 動力輔助裝置之硬體元件 62 4.4.1 馬達與驅動器 63 4.4.2 轉向機構 65 4.4.3 快速拆裝連接機構 66 4.4.4 微處理器 68 4.5 距離量測系統硬體元件 69 4.6 安全開關設計 71 第五章 動力輔助系統控制器設計 73 5.1 動力輔助系統之系統識別 73 5.2 標稱系統選定 74 5.3 控制器設計 76 5.3.1 PID控制器 78 5.3.2 增益調變控制器 81 5.4 實驗與模擬結果 83 第六章 治療師專家系統與性能指標 87 6.1 治療師專家系統轉譯 87 6.1.1 施力時機與軌跡分析 87 6.2 效能指標與運動表現介紹 88 6.2.1 左右腳擺動期非對稱性(Asymmetry of Swing Phase) [65] 88 6.2.2 骨盆側向位移對稱性(Asymmetry of Lateral pelvic displacement) [66, 67] 89 6.2.3 腰部旋轉幅度(Amplitude of Pelvic Rotation)[71] 90 6.2.4 平均行走速度(Average Walking Speed) 91 6.3 專家系統軟硬體實行 92 6.3.1 施力軌跡之建立 92 6.3.2 施力時機預測 94 6.3.3 骨盆側向位移測量 95 6.3.4 骨盆旋轉量之量測 97 6.3.5 平均行走速度量測 97 6.4 轉譯手法整合 98 第七章 步態訓練機整合動力輔助裝置收案實驗與分析 101 7.1 收案測試介紹 101 7.1.1 受試者收案條件 101 7.1.2 受試者基本資料 102 7.1.3 收案實驗流程 105 7.2 進步百分比指標 108 7.3 NDT實驗結果 110 7.3.1 擬中風步態訓練NDT實驗與探討 110 7.3.2 中風患者步態訓練NDT實驗結果 116 第八章 IMU之平衡能力量測應用 123 8.1 收案實驗介紹 123 8.1.1 收案受試者條件與基本資料 123 8.1.2 實驗方法介紹 128 8.2 平衡能力指標與差異性分析方法 129 8.2.1 平衡能力指標 129 8.2.2 差異性檢定方法 130 8.3 實驗結果與分析 133 第九章 結論與未來展望 151 9.1 結論 151 9.2 未來展望 152 參考文獻 153 附錄A中風測試知情同意書 161 附錄B擬中風移動式自動化NDT訓練實驗結果 162 附錄C中風患者移動式自動化NDT訓練實驗結果 169 附錄D瑜珈測試知情同意書 177 附錄E老人平衡測試知情同意書 178 附錄F口試委員之問題與回答 179 | - |
dc.language.iso | zh_TW | - |
dc.title | 動力輔助中風步態訓練機之開發 | zh_TW |
dc.title | The Development of a Power-Assisted Mobile Rehabilitation Trainer | en |
dc.type | Thesis | - |
dc.date.schoolyear | 111-2 | - |
dc.description.degree | 碩士 | - |
dc.contributor.oralexamcommittee | 顏家鈺;陳思甫 | zh_TW |
dc.contributor.oralexamcommittee | Jia-Yush Yen;Szu-Fu Chen | en |
dc.subject.keyword | 步態訓練機,動力輔助系統,慣性測量單元,中風,神經發展治療,強韌控制,瑜珈,平衡分析, | zh_TW |
dc.subject.keyword | gait trainer,power-assisted system,inertial measurement unit,stroke,NDT,robust control,Yoga,balance analysis, | en |
dc.relation.page | 182 | - |
dc.identifier.doi | 10.6342/NTU202303925 | - |
dc.rights.note | 未授權 | - |
dc.date.accepted | 2023-08-13 | - |
dc.contributor.author-college | 工學院 | - |
dc.contributor.author-dept | 機械工程學系 | - |
顯示於系所單位: | 機械工程學系 |
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ntu-111-2.pdf 目前未授權公開取用 | 13.53 MB | Adobe PDF |
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