章良渭臺灣大學:醫學工程學研究所黃聖銘Huang, Sheng-MingSheng-MingHuang2010-05-182018-06-292010-05-182018-06-292009U0001-2807200923413100http://ntur.lib.ntu.edu.tw//handle/246246/183687本研究建立了一個二維步態模型, 其特色為此模型的兩個髖關節是獨立的兩個點，可以相對運動以模擬正常步態中之骨盆的旋轉和傾斜。使用追跡控制法並參考正常步態的關節角度進行模擬，並比對用此模型模擬的步態之關節角度，關節扭矩，及地面反作用力，和正常步態中的這些資料。擬的結果顯示: 本模擬表現了平順的步態動作以及接近正常的關節扭矩變化趨勢，但在足腫接觸(heel strike)後以及雙足承重期間(double support phase)產生了異常的關節扭矩。造成此模擬中異常關節扭矩的最大原因是來自於此模擬中過於簡單的控制方法而非模型結構本身。然而，即使本模型有些限制而且無法完美的模擬對應三維正常步態的動作，模擬的結果仍然能做為動力學上的參考。若未來能改良模擬的控制方法，模擬的結果會更接近正常數值。而在未來可以用增加拘束條件的方式讓此模型能模擬穿上矯具的步態, 使其可應用於下肢矯具之設計。This study developed a 2D normal gait model that features two independent hip joints which can move relatively to each other to simulate the rotation and tilt of hip in normal gait. Tracking control fed with joint angles of normal gait data was used in simulation. The joint angles, torques, and ground reaction force of gait in simulation with this model was compared with those in normal gait data. he results of simulation were: smooth gait movements and near normal trends of joint moments were achieved, but the abnormal joint moments require rectification after heel strike and during double support phase. The main reason for the abnormal joint moments in this simulation is the too simple control strategy rather than the structure of the model. While the model can not perfectly match real 3D human’s motions, the result of simulation can still provide a reference of kinetic. With a better control strategy, the result of simulation can be better and closer to normal gait data. In future, with different constraints setting, the model will be able to simulate orthotic gait, and than it has application on designing the orthosis for lower limbs.Contents試委員會審定書……………………………………………………………1bstract……………………………………………………………….…………..2 文摘要…………………………………………………………………………3igure………………………………………………………………………….……6able………………………………………………………………………….……9hapter 1. Introduction.1 Background…………………………………………………………….….10.2 Research motivation………………………………...………………………11.3 Literature Review.3.1 Function of joints on lower limb in gait………………………………..12.3.2 Stance control knee…………………………………………………….14.3.3 RGO with controllable knees…………………………………………15.3.4 Prosthetic knee……………………………………………………….18.3.5 Modeling………………………………………………………………20.4 Objective and Hypothesis ………………………………………………….25hapter 2. Materials and Methods.1 Model .1.1 Description of model………………………………………….………. 27.1.2 Mass and moment of inertia……………………………………………29 .1.3 Motion Equations…………………………………………………….30 .1.4 Transition.1.4.1 Transition of single support to double support……….……32.1.4.2 Transition of double support to single support ….…..……35.2 Computer simulation.2.1 Control of joint angle.2.1.1 Control of hip joints……………………………………………35.2.1.2 Control of knee and ankle joints in single support phase………36.2.1.3 Control of knee and ankle joints in double support phase……38.2.2 Gait data mapping to the model.2.2.1 Adjusting the positions of feet…………………………………39.2.2.2 Mapping joint angles……………..……………………………41.2.2.3 Adjustment of initial condition…..……………………………44hapter 3. Results.1 Joint angle mapping to the model………………………………………..46.2 Joint angle and moment……………………………………………….…47.3 Ground reaction force…………………………………….………….…49.4 Trajectory of the center of two hips………………………..….…………51hapter 4. Discussion.1 Features of the model………………………...…………………………..52.2 Discussion of result of simulation………………………………….…..52.3 Limitations of simulation…………………………………………...…..55.4 Future work………………………………………………………..……..56hapter 5. Summary.....……………………………………………………58eferences……………………………………………………………...……….. 60ppendix................................................................................................................64application/pdf693427 bytesapplication/pdfen-US步態模型二維步態模型步態模擬骨盆旋轉骨盆傾斜正向動力學gait model2D gait modelhuman gait simulationpelvis rotationpelvis tiltforward kineticthesishttp://ntur.lib.ntu.edu.tw/bitstream/246246/183687/1/ntu-98-R95548042-1.pdf