肘、膝、踝、指以及趾等可動關節均歸納為人體的屈戍關節，且在作動上，還可分為偏向滾動或滑動運動。其中膝關節又可分為脛股關節(Tibiofemoral joint)及髕股關節(Patellofemoral joint)兩大部份。而較偏向滑動的脛股關節為人體關節中，最大且構造最為複雜的屈戍關節之一，也使得在機構的設計上，常以個別描述的手法來分別探討其關節特徵。因此，導致關節輪廓無法對應極心線的位置，而難以分析關節接觸力與極心之間的關係。
針對脛股關節之內外部義肢的設計方法而言，一般外部義肢均以股骨極心線作為設計依據。反之，內部義肢則以脛股關節輪廓和滾滑動為主。因此，當以連桿機構的極心線描述關節接觸輪廓與滾滑動時，而無法描述股骨極心線。反之，當以連桿機構的極心線描述股骨極心線時，卻無法描述關節接觸輪廓與滾滑動運動。然而，單憑以一機構來達到關節輪廓對應股骨極心線所延伸的問題還很多。例如關節結構還包含股骨極心線與骨髁半徑等組織，而難以考量前後十字韌帶等設計因素。此外，對於膝關節不同的運動步態，所產生的屈曲角度循環圖也有所不同，相對地，對於關節所承受體重負載循環也不同等問題。
因此，本論文所欲呈現的成果，即藉由四連桿機構與最佳化設計工具的運用，將關節輪廓與極心線和滾滑動運動作為多目標函數，以連桿長度、前後十字韌帶、股骨骨髁半徑與走路步態等因素，來探討脛股關節之平面運動與力學模型分析。以期望對於未來膝關節疾病之患者，如退化性關節炎等等，能針對復健與局部組織修補等給予參考其關節輪廓、滾滑動比與接觸力和極心線之間的對位關係。以期望其結果能更貼合於人體實際作動的情形，而提高其設計後的舒適性。
最後，以脛股關節探討為基礎來探討同為屈戍關節之手指關節機構設計的關連性。其關連性可分為兩部分，其一為脛股和手指關節於文獻所描述設計方法的相似性與其二為退化性關節炎特徵的關連性，藉此了解可動關節的作動原理。最後，藉由接觸力的計算，再延續探討因素對於各目標函數與Hertz接觸應力的敏感度分析，以了解主要影響因素與最大Hertz接觸應力對應步態或極心線位置為何等分析。

The hinge joint is movable joints in the human leg connecting the elbow, knee, ankle, finger and toe joints. Among hinge joints, Tibiofemoral (TF) joint has complex joint structure with six degrees of freedom. Thus, it is important to analyzed tibiofemoral joint throughly in order to understand other moving joint of human being. The exo-prosthesis of the knee depends only on the femoral polode. Conversely, the endo-prosthesis of the knee relies upon the TF condylar surface and the slip ratio variation, without needing to consider the femoral polode.
However, femoral polode is difficult to understand if the contact joint surface and slip are described by moving polode of linkage mechanism. Conversely, the contact joint surface and slip cannot be described if the femoral polode is described by moving polode of linkage mechanism. Therefore, the endo-prosthesis design can be more suitable for human but it is difficult to achieve if the contact joint surface cannot be correspond with femoral polode.
There are many difficulties to achieve these goals. Firstly, the joint structure includes femoral polode and femoral condylar radius, etc. Therefore, it is too complicated to describe the anterior/posterior cruciate ligament for mechanical analysis. Moreover, the different cycles of flexion-extension and body weight can be produced by gait cycle.
Therefore, the purpose of this study is to explore the planar kinematic and kinetic mechanism so that the joint surface can be correspond with femoral polode. The objective functions include the line shape of the joint surface, femoral polode and slip and factors, the length of bar, the anterior/posterior cruciate ligament and gait, etc. the main objective of this study is to assistance the people with some knee disease such as osteoarthritis or joint surface repair techniques.
Finally, that tibiofemoral joint analysis is as a basic foundation, we also explored the correlation between the tibiofemoral joint and the finger joint. Firstly, the finger joint design method is similar to tibiofemoral joint. Moreover, to support people with osteoarthritis.
In addition, the pain of osteoarthritis is sometime from stress abrasion of tibiofemoral joint. Therefore, the sensitivity analysis of factors such as Hertz contact stress is also discussed to understand the main influencing factors and the gait location of maximum Hertz contact stress.

論文審定書---------------------------------------------------- i
誌 謝----------------------------------------------------------- ii
摘要------------------------------------------------------------- iii
Abstract---------------------------------------------------------- iv
目 錄------------------------------------------------------------ vi
圖目錄----------------------------------------------------------- viii
表目錄----------------------------------------------------------- xi
符號表----------------------------------------------------------- xii
第 一 章 緒論---------------------------------------------------- 1
1-1前言---------------------------------------------------- 1
1-2 人體關節簡介------------------------------------------- 7
1-2-1 人體關節概要------------------------------------- 7
1-2-2 手指關節的基本構造------------------------------- 10
1-2-3 膝關節的基本構造--------------------------------- 12
1-3 文獻回顧----------------------------------------------- 19
1-3-1 手指關節的研究回顧------------------------------- 19
1-3-2 膝關節的研究回顧--------------------------------- 24
1-4 研究目的----------------------------------------------- 36
1-5 研究方法----------------------------------------------- 39
1-6 論文架構----------------------------------------------- 39
第二章 創建脛股關節機構模型之方法討論---------------------------- 41
2-1平面運動模型的建立------------------------------------- 41
2-1-1基本理論----------------------------------------- 41
2-1-2建立平面運動模型之方法推論------------------------ 60
2-1-3因素與目標函數的訂定------------------------------ 77
2-2平面力學模型的建立-------------------------------------- 79
2-2-1基本理論----------------------------------------- 79
2-2-2建立平面力學模型之方法推論------------------------ 82
2-2-3因素與目標函數的訂定------------------------------ 89
2-3 Hertz接觸理論------------------------------------------ 92
2-4敏感度分析---------------------------------------------- 95
第三章 最佳化方法結果-------------------------------------------- 96
3-1平面運動模型之分析規劃---------------------------------- 96
3-2平面力學模型之分析規劃---------------------------------- 108
3-3 Hertz接觸理論與敏感度分析規劃--------------------------- 114
3-3-1連桿機構的敏感度分析------------------------------- 114
3-3-2接地桿與韌帶的敏感度分析--------------------------- 118
3-4 Hertz接觸應力----------------------------------------- 121
第四章 討論------------------------------------------------------ 123
4-1平面運動模型之結果分析---------------------------------- 123
4-2平面力學模型之結果分析---------------------------------- 127
4-3 Hertz接觸理論與敏感度之結果分析------------------------- 131
第五章 結論與建議------------------------------------------------ 133
參考文獻--------------------------------------------------------- 136
作者簡歷--------------------------------------------------------- 152
著作目錄--------------------------------------------------------- 152
附錄------------------------------------------------------------- 154
附錄A:基因演算法------------------------------------------------- 154
附錄B:折衷演算法與柏拉圖前緣等級法------------------------------- 159
附錄C:田口方法--------------------------------------------------- 162

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