上肢負荷訓練輔具之創意機構設計

Abstract

初動負荷理論訓練廣為所用，亦有不少運動員使用的實績成效，但並沒有以工程角度邏輯解析，因此本研究以機械工程角度系統化完成初動負荷理論證明，包含機構、軌跡、以及力學等分析，給未來想做相關研究的學者參考。 本研究提出一套設計流程，適用上肢訓練復健輔具與初動負荷輔具等的設計，可提供做輔具類相關醫工研究的學者參考。首先初動負荷理論進行證明，經由機構、軌跡、以及力學等分析方式，確認設計要點。因負荷傳遞部用六桿八接頭與八桿十一接頭，能改變的拘束度為1齒輪對與凸輪對皆已被小山裕史開發完畢，因此本研究結合其他類型的上肢連桿式輔具，以二自由度連桿機構取代負荷傳遞部，並以創意性機構設計方法推出13種上肢訓練裝置可行之機械裝置設計圖譜。 根據人體上肢範圍以及初動負荷訓練的定向動作，合成軌跡曲線並以方程式表示，合出男女性150至180公分8種身高尺寸的理想輪廓曲線，再以幾何約束方法針對13種可行構型進行機構尺寸與軌跡合成，合成出9個機構的最佳軌跡與尺寸，對每個機構進行運動學分析，並比較每個構型生成的最佳軌跡曲線與理想軌跡的誤差值，從中選定一種最佳機構。 本研究完成初動負荷理論證明之外設計出一款新型初動負荷訓練儀器，利用Creo建立CAD模型進行模擬，並針對軌跡分析與原機構比較，利用ADAMS模擬力學，驗證力學分析無誤，證實所設計之裝置符合初動負荷理論，CAD模型作可調式，可根據使用者的身高調整機構平台與軌跡導引，共有四段位，並解決原機構對於使用者動作不確實這點做改善。

This thesis investigates the Beginning Movement Load (BML) training theory, which is widely applied and has demonstrated practical effectiveness among many athletes. However, there has been no logical analysis from an engineering perspective. Therefore, this research systematically validates the BML theory from the standpoint of mechanical engineering, including analyses of mechanisms, motion trajectories, and mechanics, to serve as a reference for scholars conducting related studies in the future. This research proposes a design process applicable to the development of upper-limb rehabilitation assistive devices and BML training apparatus, providing a methodological reference for biomedical engineering studies involving assistive equipment. First, the BML theory is validated through analyses of mechanisms, trajectories, and mechanical principles to identify key design points. Since the load transmission unit employs six-link eight-joint and eight-link eleven-joint mechanisms—where the modifiable degree of constraint (1 DOF) with gear pairs and cam pairs has already been developed by Yasushi Koyama—this research integrates other types of upper-limb linkage-based assistive devices by replacing the load transmission unit with a two-DOF linkage mechanism. Using a creative mechanism design method, 13 feasible mechanical configurations for upper-limb training devices are developed. Based on the range of motion of the human upper limb and the directional movements in BML training, motion trajectories are synthesized and expressed through mathematical equations. Ideal cam profile curves for eight height ranges (150–180 cm, for both male and female users) are generated. Using geometric constraint programming, mechanism dimensions and trajectories are synthesized for the 13 feasible configurations, resulting in nine optimal trajectory–dimension combinations. Each mechanism undergoes kinematic analysis, and the error between each generated optimal trajectory curve and the ideal trajectory is evaluated to select the most suitable mechanism. In addition to validating the BML theory, this research designs a novel BML training device. A CAD model is created in Creo for simulation, and trajectory analysis is performed in comparison with the original mechanism. Mechanical performance is verified using ADAMS simulation to confirm the accuracy of the mechanical analysis, demonstrating that the designed device meets BML training requirements. The CAD model features an adjustable design that allows the mechanism platform and trajectory guide to be adapted to the user’s height, with four adjustment levels. Furthermore, the design addresses and improves upon the inaccuracy of user movements observed in the original mechanism.