| Summary: | 碩士 === 國立成功大學 === 機械工程學系碩博士班 === 98 === There are many gears, such as hand tools, assisting devices, body-fitting
equipments, and so on, which are operated by upper limbs of humans. If
there exists a reliable model of the upper limb, and can be integrated with
those for the design and analysis of the gears, then their better products should
be able to been designed and developed.
The purpose of this study is to propose a SUU musculoskeletal model of
the human upper limb, then apply it to develop the models for the muscular
path, muscular force, and joint load analyses during propelling wheelchairs
and operating a rehabilitation robot. Nineteen muscles are considered within
the model, each of them is treated as one or several string-type muscles. The
Obstacle-set method is adopted, including four types of obstacles, to build the
model for the determination of the muscular paths and muscular lengths.
Regarding the muscle activation analysis, it is constructed as a quadratic
programming problem; consequently, the muscular forces can be determined.
The second Newton’s law is applied to develop the model of the joint load
analysis. Furthermore, propelling wheelchairs and operating a rehabilitation
robot are used as examples to show the usages of the models developed and to
display the analysis results.
The proposed SUU musculoskeletal models can be used to analyze the
motion, muscular force and joint load of the upper limb, which should have
aids on better designing of hand operating devices, and on investigating the
injuries of upper limbs due to the operation of these instruments.
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