本研究為對助行器進行功能的改良。在使用助行器時，使用者不一定會一直走在平坦的路面上，有時也會遇到如台階之類的障礙，台階高度若是太高，助行器就無法直接通過，為此就需要能夠讓使用者能夠直接越過平常無法越過之高度的助行器設計。

本研究設計一種能讓助行器直接越過的台階高度比平常更高的設計，此設計大多考慮於用在室外，畢竟在室外是最容易遇到如台階這類的障礙的，而為此而設計出的就是輔助輪機構，設計出原始的構想後，利用Pro/Engineer繪圖軟體設計出模擬的3D模型，並進行動作的模擬來測試是否有需要進行改進的地方，再建立越過台階時的數學模型來進行力學分析，並利用Matlab計算需要的最小施力，最後再用Pro/e Mechanica進行助行器在越過台階時的應力和變形量分析，確認是否會出現損毀的情況發生。

In this study, a rollator is designed to improve in a side of its function. When using a rollator, the user doesn’t always walk on the flat ground and sometime runs into obstacles like stairways. If stairways are too high, the rollator isn’t able to pass over that directly. There is a requirement of a rollator that can let a user pass over the height that the rollator isn’t able to directly pass over in the past.

In this study, a rollator is designed for directly passing over the stairways higher than that in the past. The design is considered to be used outside where user easily runs into obstacles like stairways. The design for this the purpose is a structure of auxiliary wheels. After designing an original idea, use Pro/Engineer to design 3D model, and then imitate the action to confirm whether needs improvement. After that, create a mathematical model of passing over the stairways to do mechanical analysis and use matlab to compute minimum force. In the end, use Pro/e Mechanica to do stress analysis and deformation analysis of passing over the stairway to confirm whether it is damaged.

目錄
摘要 i
Abstract ii
目錄 iii
圖目錄 v
表目錄 ix
第１章 序論 1
1.1研究背景 1
1.2研究動機 4
1.3研究目的 4
第２章 文獻探討及分析 5
2.1關於越過台階的設計 5
2.2過台階設計的分析 11
第３章 過障礙設計 17
3.1設計的概念 17
3.2設計的過台階裝置 17
3.2.1固定式輔助輪 18
3.2.1.1減少桿件的高度 24
3.2.1.2改成彎曲型 27
3.2.2電動式輔助輪 30
第４章 過障礙運動分析 38
4.1固定式輔助輪 38
4.1.1 高度0~0.105m 38
4.1.2 高度0.105~0.196m 44
4.1.2.1 step1 46
4.1.2.2 step2 49
4.1.2.3 step3 52
4.1.3 高度0.196~0.246m 58
4.2電動式輔助輪 64
4.2.1後輪的電動式輔助輪 69
4.3無輔助輪 72
第５章 電腦模擬 75
5.1應力分析 75
5.1.1固定式輔助輪 75
5.1.1.1 第一階段分析 75
5.1.1.2 第二階段分析 79
5.1.2電動式輔助輪 82
5.2重心位置軌跡分析 85
5.2.1固定式輔助輪 86
5.2.1.1 step1的重心位置軌跡分析 86
5.2.1.2 step2的重心位置軌跡分析 87
5.2.2電動式輔助輪 89
5.3手把位置軌跡分析 89
5.3.1固定式輔助輪 89
5.3.2電動式輔助輪 91
第６章 結論和未來展望 93
6.1結論 93
6.2未來展望 94
第７章 參考文獻 95

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