A SUU Musculoskeletal Model of the Upper Limb and Its Applications on the Muscular Force Analysis of Operating Wheelchairs and a Rehabilitation Robot

• Main Authors: Po-WenCheng, 鄭博文
• Other Authors: Shen-Tarng Chiou
• Format: Others
• Language: zh-TW
• Published: 2010
• Online Access: http://ndltd.ncl.edu.tw/handle/21385750449950772282

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.