本論文的目的主要在於研發一張適於身體癱瘓病人所使用的新型病床，此病床的設計目標有二：第一，在於避免長期臥床的病人產生褥瘡的可能性；第二，在於調整病人身體肌肉的受力。

為了分析肌肉的受力狀況，本論文建立一個簡化的人體模式，此模式在忽略上肢及手的情況下，將身體分成5個剛體區塊的組合，透過幾何空間的關係來描述病人在不同的姿態和不同的位置被病床支撐時，身體區塊和肌肉之間的關係。由於人體模式的未知數大於身體處於平衡狀態時所推導出的方程式，本論文藉由最佳化的技巧從未知數中獲得所需的肌肉受力分布。由身體不同的姿態和不同的位置所組成的支撐狀態中，符合需求的肌肉受力分布可透過合適的方法搜尋出，而本論文也透過圖論的技巧規劃出由合適的支撐狀態所組成的支撐軌跡，此軌跡用於支撐病人時能夠避免褥瘡的發生。最後，本論文也對病床的支撐機構提出了一些初步的設計概念。

由本論文的分析結果顯示，要讓全身的肌肉都處於放鬆的狀態可藉由眾多的支撐狀態達成，這表示存在很多的身體姿態及身體的支撐部位都可讓肌肉放鬆。這樣的特徵在實際應用上，可透過選擇相鄰支撐狀態間完全不同的支撐位置來避免病人同樣的部位受到連續的壓迫，讓規劃出的支撐軌跡可降低病人發生褥瘡的可能性。

The purpose of this thesis is to design an innovative sickbed for the paralyzed patients. One goal of the sickbed is to avoid the occurrence of pressure ulcers. The other one is to tune the tensions of patient’s muscles.

To analyze the muscle tension, a simplified model for human body was proposed. This model divided the human body into 5 blocks when ignoring the arms and hands. It described the geometric relationships between the blocks and muscles under different body postures and external supports from the design sickbed. It was noted that the number of unknowns of the model was larger than the number of equations derived from the equilibrium conditions. An optimization method, which was to obtain a desired distribution of muscle tensions, was adopted to find the solutions for the unknowns. Among the possible supporting states, which included the body postures and supporting locations, the ones that met the desired tension distribution were searched. Then, the technique of Graph theory was used to obtain a set of supporting states that could avoid the occurrence of pressure ulcers. Finally, a preliminary design of the sickbed structure was discussed.

If the relaxed condition of muscles was desired, the simulation study indicated that large number of supporting states could meet the purpose. That means there exist many body postures or supporting locations allowing the muscles of body in the relaxed condition. This feature allows one to choose a set of supporting states that two consecutive states own different supporting locations and prevents any spot of body from continuous loading. Such a supporting scheme should minimize the occurrence of pressure ulcers.

謝誌..........................................................................................I
目錄.........................................................................................II
圖索引.....................................................................................V
表索引...................................................................................VII
摘要......................................................................................VIII
Abstract……………………….............................................IX
第一章 緒論...................................................................1
1-1 研究背景與動機...............................................1
1-2 現有技術及相關研究回顧...............................3
1-3 研究方法...........................................................5
1-4 內容介紹...........................................................6
第二章 簡化人體模式...................................................7
2-1 人體活動的基本型態.......................................7
2-2 簡化人體活動自由度.......................................8
2-3 簡化人體肌肉數目.........................................10
2-4 建立人體座標與人體模型.............................14
第三章 肌肉受力解析法.............................................17
3-1 人體力學模式.................................................17
3-2 肌肉受力之最佳化數值分析法.....................21
3-3 肌肉受力之模擬和分析.................................23
3-3-1 支撐位置與支撐姿態之選擇........................23
3-3-2 「最鬆弛」之肌肉受力................................25
第四章 支撐軌跡之規劃.............................................31
4-1 避免褥瘡生成之策略.....................................31
4-1-1 簿記法支撐位置之變更策略........................32
4-1-2 分配法支撐位置之變更策略........................33
4-2 支撐軌跡之排列組合.....................................35
4-3 支撐軌跡之搜尋.............................................36
4-3-1 支撐軌跡之圖論表示法................................37
4-3-2 支撐軌跡之搜尋結果....................................39
4-4 最佳化之支撐軌跡.........................................41
第五章 支撐軌跡敏感度分析.....................................45
5-1 敏感度參數設定與分析方法.........................45
5-2 敏感度分析結果.............................................47
5-2-1 人體重量分布之分析結果............................47
5-2-2 支撐姿態之分析結果....................................48
5-2-3 支撐位置之分析結果....................................48
5-3 敏感度分析之總結.........................................52
第六章 支撐機構之初步設計.....................................54
6-1 支撐機構之設計策略.....................................54
6-1-1 獨立式支撐機構之設計概念........................55
6-1-2 矩陣式支撐機構之設計概念........................56
6-1-3 混合式支撐機構之設計概念........................57
6-2 可擴展支撐區域之機構設計.........................59
6-2-1 x-y滑軌擴展平台之概念設計.......................61
第七章 討論........................................................................65
7-1 簡化人體模式之模擬精確度......................................65
7-2 肌肉受力解析法之參數選擇及分析結果..................66
7-3 支撐軌跡規劃之複雜度與其他應用..........................67
7-4 支撐機構設計之不完整性..........................................68
第八章 結論................................................................70
未來展望..............................................................................71
參考文獻..............................................................................73

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