劉正良臺灣大學：機械工程學研究所徐善庭Hsu, Shan-TingShan-TingHsu2007-11-282018-06-282007-11-282018-06-282007http://ntur.lib.ntu.edu.tw//handle/246246/61169以往醫學與工程學中，關於人體關節運動之研究，皆針對單一關節之單一性質作探討，對於各關節性質間之相似性則鮮少著墨。 為能進一步了解關節性質間之相似性，以利於復健輔具之設計或其他相關領域之研究，本論文有以下三個目的：一、建立關節性質之編碼系統，以供查閱；二、利用所得之編碼系統，探究關節間之相似性；三、利用機構學所關注之運動對，對應人體關節之運動，以將工程設計之概念引入醫學研究中。 本論文彙整了人體關節之八項性質，並且加以編碼，得到關節性質之編碼系統；此外，亦將運動對之性質加以編碼，得到運動對性質之編碼系統；再將兩者加以比對，最後得到可對應關節運動之等效運動對。 利用關節性質之編碼系統，可由查表之方式，查得關節之各項性質，俾便依特定性質對關節進行分類，以探究關節間之相似性。利用運動對對應關節之運動及探討關節之自由度，則有助於人體工學之瞭解，以及復健輔具或其他相關領域之設計與研究。In the past, medicine and engineering researches in motion of human joints have focused on a single property of a single joint. Little attention has been given to the similarities between properties of joints. To explore further into similarities between properties of joints, which benefit designs of assistive technology devices or studies in other pertinent fields, the thesis has three purposes: (1) to establish the coding system of joint properties for researchers’ reference; (2) using the coding system derived to determine similarities between joint properties; (3) to determine correspondent motion of human joints by kinematic pairs so as to link engineering design with medical research. The study collected and arranged eight properties of human joints, which were coded to establish the coding system of joint properties. In addition, kinematic pair properties were also coded; herewith the coding system of kinematic pair properties was derived. Through contrasting the two coding systems with each other, the equivalent kinematic pairs which correspond to the motion of human joints were thus determined. With the coding system of joint properties, properties of joints can be learned by consulting the table, and joints can be classified by appointed properties to determine similarities between joints. Besides, investigating the degrees of freedom of joints by kinematic pairs corresponding to motion of joints is constructive to investigation of biomechanics; it also benefits design and research in assistive technology devices and other pertinent fields.Contents ix List of Tables xiii List of Figures xvi Chapter 1 Introduction 1 1.1 Backgrounds 1 1.2 Research Purposes 5 1.3 Theoretical Foundations of Classification and Coding System 6 1.4 Applications of Classification and Coding System 9 1.5 Research Procedure 12 1.6 Thesis Organization 12 Chapter 2 Properties and Classifications of Joints 17 2.1 Structures of Joints 17 2.1.1 Main Structures of Joints 17 2.1.2 Accessory Structures of Joints 19 2.2 Arthrokinematics 20 2.2.1 Spin 21 2.2.2 Roll 21 2.2.3 Slide 21 2.3 Osteokinematics 22 2.3.1 Anatomical Position and Location Terminology 22 2.3.2 Planes and Axes 23 2.3.3 Flexion and Extension 24 2.3.4 Abduction and Adduction 25 2.3.5 Left Rotation and Right Rotation 25 2.3.6 Medial Rotation and Lateral Rotation 26 2.3.7 Upward Rotation and Downward Rotation 26 2.3.8 Plantarflexion and Dorsiflexion 27 2.3.9 Inversion and Eversion 27 2.3.10 Pronation and Supination 27 2.3.11 Protraction and Retraction 28 2.3.12 Elevation and Depression 28 2.3.13 Anterior Tilt and Posterior Tilt 29 2.3.14 Upward Tilt and Downward Tilt 29 2.3.15 Left Lateral Flexion and Right Lateral Flexion 29 2.3.16 Left Lateral Deviation and Right Lateral Deviation 30 2.4 Classifications of Joints 30 2.4.1 Classification of Joints by the Number of Bones Involved 30 2.4.2 Classification of Joints by the Function 31 2.4.3 Classification of Joints by the Shape of Joint Surfaces 31 2.4.4 Classification of Joints by the Number of Axes 33 Chapter 3 Kinesiology of Joints 35 3.1 Joints of the Skull 35 3.1.1 Suture Joints of the Skull 35 3.1.2 Temporomandibular Joint 35 3.2 Joints of the Trunk 36 3.2.1 Atlanto-Occipital Joint 37 3.2.2 Atlantoaxial Joint 38 3.2.3 Cervical Spine 39 3.2.4 Thoracic Spine 40 3.2.5 Lumbar Spine 41 3.2.6 Lumbosacral Joint 41 3.2.7 Costovertebral Joint 42 3.2.8 Costotransverse Joint 43 3.2.9 Sternocostal Joint 43 3.2.10 Intrasternal Joint 44 3.3 Joints of the Upper Extremity 44 3.3.1 Sternoclavicular Joint 45 3.3.2 Acromioclavicular Joint 45 3.3.3 Glenohumeral Joint 46 3.3.4 Scapulocostal Joint 47 3.3.5 Humeroulnar Joint 48 3.3.6 Humeroradial Joint 48 3.3.7 Proximal Radioulnar Joint 49 3.3.8 Distal Radioulnar Joint 49 3.3.9 Radiocarpal Joint 50 3.3.10 Midcarpal Joint 51 3.3.11 Carpometacarpal Joint 51 3.3.12 Intermetacarpal Joint 52 3.3.13 Metacarpophalangeal Joint 53 3.3.14 Interphalangeal Joint of the Hand 53 3.4 Joints of the Lower Extremity 54 3.4.1 Sacroiliac Joint 54 3.4.2 Hip Joint 55 3.4.3 Symphysis Pubis Joint 56 3.4.4 Tibiofemoral Joint 56 3.4.5 Patellofemoral Joint 57 3.4.6 Proximal Tibiofibular Joint 58 3.4.7 Distal Tibiofibular Joint 59 3.4.8 Talocrural Joint 59 3.4.9 Subtalar Joint 60 3.4.10 Transverse Tarsal Joint 61 3.4.11 Tarsometatarsal Joint 61 3.4.12 Intermetatarsal Joint 62 3.4.13 Metatarsophalangeal Joint 63 3.4.14 Interphalangeal Joint of the Foot 63 Chapter 4 Coding System of Joint Properties 67 4.1 Collection and Arrangement of Joint Properties 67 4.2 Relationships between Joints and Properties 68 4.3 Coding of Joint Properties 72 Chapter 5 Kinematic Pairs and Their Properties 99 5.1 Definition of the Degree of Freedom 99 5.2 Classification of Kinematic Pairs by the Degrees of Freedom 100 5.3 Classification of Kinematic Pairs by the Types of Contact 101 5.4 Degrees of Freedom and Types of Contact of Kinematic Pairs 101 5.4.1 Revolute Pair 101 5.4.2 Prismatic Pair 101 5.4.3 Helical Pair 102 5.4.4 Slotted Spheric Pair 102 5.4.5 Cylinder Pair 102 5.4.6 Cam Pair 103 5.4.7 Spheric Pair 103 5.4.8 Sphere-Slotted Cylinder Pair 103 5.4.9 Plane Pair 104 5.4.10 Sphere-Groove Pair 104 5.4.11 Cylinder Plane Pair 104 5.4.12 Sphere-Plane Pair 104 Chapter 6 Coding System of Kinematic Pair Properties 111 6.1 Choice of Coordinate System for Kinematic Pairs and Directions of the Coordinate Axes 111 6.2 Relationships between Kinematic Pairs and Properties 112 6.3 Coding of Kinematic Pair Properties 114 Chapter 7 Equivalent Kinematic Pairs of Joints and Classifications of Joints by Equivalent Kinematic Pairs and Their Properties 127 7.1 Equivalent Kinematic Pairs of Joints 127 7.2 Classifications of Joints by the Equivalent Kinematic Pairs and Their Properties 129 7.2.1 Classification of Joints by the Equivalent Kinematic Pairs 129 7.2.2 Classification of Joints by the Degrees of Freedom of Equivalent Kinematic Pairs 130 7.2.3 Classification of Joints by the Types of Contact of Equivalent Kinematic Pairs 130 Chapter 8 Discussion 139 8.1 Joint Properties and Their Codes 139 8.2 Classification of Joints by the Properties 141 8.3 Kinematic Pair Properties and Their Codes 144 8.4 Equivalent Kinematic Pairs of Joints 146 Chapter 9 Conclusions 163 9.1 Conclusions 163 9.2 Future Works 164 References 167 Appendix A Division of the Human Skeleton System 175 Appendix B Brief Introduction to Boolean Expression 177 B.1 Boolean Algebra 177 B.2 Boolean Expression 177 Appendix C Boolean Operation of Motion Directions of Joints 181 References for Appendixes 1932841368 bytesapplication/pdfen-US等效運動編碼系統關節相似性編碼系統比對關節性質關節運動關節分類關節位置關節處連接骨數關節功能關節面形狀關節運動學關節轉動方向關節平移方向關節運動軸數運動對性質運動對轉動方向運動對平移方向運動對自由度運動對接觸形式equivalent kinematic paircoding systemsimilarity between jointscontrasting of coding systemsproperty of jointmotion of jointclassification of jointlocation of jointnumber of bones involved in jointfunction of jointshape of surfaces of jointarthrokinematicsdirection of rotation of jointdirection of translation of jointnumber of axes of jointproperty of kinematic pairdirection of rotation of kinematic pairdirection of translation of kinematic pairdegree of freedom of kinematic pairtype of contact of kinematic pair[SDGs]SDG3thesishttp://ntur.lib.ntu.edu.tw/bitstream/246246/61169/1/ntu-96-R94522638-1.pdf