應用FR-SUCr-U模型於上肢驅動復健機械手之運動及負荷分析

Shen Tarng Chiou, Hao Che Liou, Ming Shaung Ju, Chou Ching Ko Lin

研究成果: Article同行評審

摘要

The main purpose of this study is to develop a biomechanical model of the upper extremity for analyzing joint displacements and forces of the limb when it drives a rehabilitation robot. An S-SUCr-U chain is proposed as a new skeleton model (from the shoulder joint to the wrist joint) of the upper limb, which has better description of pronation/supination of forearm when the humerus is held fixed. Based on the chain, an FR-SUCr-S spatial 4-bar mechanism is proposed for simulating the upper limb driving a rehabilitation robot. The displacement model of the 4-bar mechanism is then developed and two approaches, namely, three-actuator and multi-actuator approaches are adopted for the force analysis. For each approach, computer programs are developed and the results are compared with those of using the Adams software for validation. The results revealed that the multi-actuator approach yields more reasonable results than the three-actuator approach and the objective function of the optimization problem is feasible. The net joint torques and forces can be used in solving the load sharing of the muscles of the upper extremity in next stage of research.

貢獻的翻譯標題Displacement and Force Analyses of an Upper Limb Driving a Rehabilitation Robot Using FR-SUCr-U Model
原文???core.languages.zh_TW???
頁(從 - 到)245-254
頁數10
期刊Journal of the Chinese Society of Mechanical Engineers, Transactions of the Chinese Institute of Engineers, Series C/Chung-Kuo Chi Hsueh Kung Ch'eng Hsuebo Pao
39
發行號3
出版狀態Published - 2018 六月 1

All Science Journal Classification (ASJC) codes

  • Mechanical Engineering

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