臺灣大學: 機械工程學研究所李志中; 章良渭何駿驊Ho, Chun-HuaChun-HuaHo2013-04-012018-06-282013-04-012018-06-282011http://ntur.lib.ntu.edu.tw//handle/246246/255946在臨床上，下肢癱瘓和半骨盆/髖離斷截肢病患在臨床上的治療是最具挑戰性的議題，不論是交替式步態矯具還是加拿大式義肢，相對於膝關節，兩者的髖關節機構皆急需創新設計。交替式步態矯具的髖關節機構為一鉸鏈機構，這種設計造成只提供人體髖關節屈曲/伸展方向的運動，而不提供內翻/外轉(internal/external rotation)以及內收/外展(adduction/abduction)的運動，如此的限制導致穿戴矯具行走時，無法像正常步態一般作出骨盆旋轉的運動，進而產生非必要的補償動作。本研究的目的即針對交替式步態矯具髖關節的耦合比機構進行創新設計，實現可在站立中期自動轉換耦合比的機構。過程中利用Lagrange方程式建立的簡易人體模型，並使用代入不同的肢段初始條件所得參數所顯現的特性，進一步設計出能確實使髖關節達到高耦合比的新機構。予以實體化後，接著用模擬與影像處理方法檢驗理論以及實驗之髖關節耦合比例。結果顯示在合理的擺動範圍內，新機構的耦合比符合預期。透過正常受試者穿上1:1機構的步態實驗結果，我們認為此不正常的拘束很可能是造成病患步行速率與步幅無法有效增加的原因之一。最後我們對原型機構現有的問題提供建議，讓後續設計者研發之機構更加成熟與穩定。The main purpose of this research is to design a set of hip flexion-extension coupling ratio mechanism for paraplegic and HD/HP patients. In clinical experiences, the treatment for paralysis of lower extremities and HD/HP patients is the most challenging issue. Compared with knee joint mechanism, the hip joint needs novel design in priority. The hip mechanism of reciprocating gait orthosis (RGO) can only apply flexion/extension motion. The limitation leads to patients’ compensatory movement. So the mechanism needs to have the ability to adjust higher flexion-extension coupling ratio(FECR) automatically for different phases. First, we use Lagrange equation to establish simple human model. By substituting different initial conditions, the solution can be used to design higher hip coupling ratio mechanism which is better than conventional mechanism. In practical application, we investigate the real coupling ratio and the influence of 1:1 coupling ratio mechanism on normal people by motion analysis method. We find that the abnormal constrain may be one of the main reason of slow walking speed. Finally, we give suggestions for more mature mechanism which can work stably on subjects in the future.7878532 bytesapplication/pdfen-US下肢癱瘓髖離斷截肢交替式步態矯具耦合比例髖關節paraplegichip-disarticulationgait reciprocating orthosiscoupling ratiohip jointthesishttp://ntur.lib.ntu.edu.tw/bitstream/246246/255946/1/ntu-100-R98522628-1.pdf