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Ergonomic Passive Dynamic Arm Orthosis for People with Upper Extremity Dysfunction : 상지 근력 장애인을 위한 인체 동작 특성을 활용한 상지 중력 보상기

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dc.contributor.advisor조규진-
dc.contributor.author신민기-
dc.date.accessioned2017-07-13T06:28:05Z-
dc.date.available2018-01-22-
dc.date.issued2017-02-
dc.identifier.other000000140805-
dc.identifier.urihttps://hdl.handle.net/10371/118576-
dc.description학위논문 (박사)-- 서울대학교 대학원 : 기계항공공학부, 2017. 2. 조규진.-
dc.description.abstractPeople with muscular dystrophy suffer difficulties in everyday life due to reduced arm function. To solve this problem, various dynamic arm support (DAS) was developed. However, only a few of them is commercially available due to low marketability, and the available DAS has low functionality and usability. The main objective of the thesis is developing a compact DAS with high performance and transparency that can be fabricated using the entry-level 3D printer. However, in order to achieve all of these features, several issues have to be solved.
First, a human has complex shoulder structure that makes shoulder joint displacement causing large misalignment between arm and orthosis. Secondly, the characteristic of the passive elastic actuator is far from the ideal spring. Thus actual produced torque is different from the desired torque. Thirdly, there exist only a few information about the relationship between the printing build parameter and the mechanical property of the fabricated part using the entry-level 3D printer. Therefore, the optimum design is hard to be done with the 3D printer.
The main contributions of the dissertation are as following. Developed an ergonomic mechanism that enables the human natural movement with a simple structure by using the human motion characteristic. Increase assisting performance and energy efficiency of the DAS by designing a realistic model and proper usage condition of the passive elastic actuator. And construct a design guideline for optimal design and fabrication using the entry-level 3D printer
By using all accomplishment of the above research, the SHR orthosis (an ergonomic passive DAS) is developed, which enable human natural movement and provide the proper assistive force with a simple structure. The performance and usability of the developed DAS are assessed by quantitative experiment and qualitative clinical trial. The result of the quantitative experiment demonstrates that the orthosis can reduce muscle activation level. And the clinical trial proves that the developed DAS can increase the motor function of the muscular dystrophy patients. Consequently, the SHR orthosis is expected to enable the independence of daily life of the muscular dystrophy patients.		-
dc.description.tableofcontentsChapter 1 Introduction 1
1.1 Motivation 1
1.1.1 Assistive Device for People with Upper Limb Dysfunction 1
1.1.2 Benefit of the 3D Printing technology on Personalized Assistive device 3
1.2 Background 5
1.2.1 Categorization of Dynamic Arm Support 5
1.2.2 Basic Mechanism of Dynamic Arm Support 8
1.2.3 Initial Clinical Trial using Basic Gravity Compensator 10
1.2.4 Important Factors in Usability 12
1.3 Challenges on Developing Effective Dynamic Arm Support 12
1.3.1 Improve Design Model 13
1.3.1.1 Improving Human Shoulder Model 13
1.3.1.2 Improving Passive Actuator model 13
1.3.2 Maximize Performance with Minimal structure 14
1.3.3 Design Fully Controllable Passive Orthosis 14
1.3.4 Design and Fabrication using the Entry-level 3D Printer 15
1.3.5 Simplify Personalize Design Process 15
1.4 Objective and Contribution 16
1.4.1 Research Objectives 16
1.4.2 Contribution 17
Chapter 2 Mechanism Design to Improve Transparency 18
2.1 Introduction 18
2.2 Human Shoulder Complex Model Study 19
2.2.1 Human Shoulder complex modeling 19
2.2.1.1 Human Shoulder Complex 19
2.2.1.2 Shoulder Complex Simulation Model 21
2.2.1.3 CGH Trajectory simulation 22
2.2.2 Experimental validation of Shoulder model 23
2.2.2.1 Experiment design 23
2.2.2.2 Result 25
2.2.3 Discussion 28
2.3 Mechanism Design using Human Motion Characteristic 28
2.3.1 Human motion characteristic 28
2.3.2 Principal Component Analysis of SHR trajectory 30
2.3.3 Orthosis Design using SHR characteristic 33
2.3.4 Experiment design for mechanism validation 34
2.3.4.1 Elevation angle alignment test 35
2.3.4.2 Residual force measurement test 35
2.3.5 Results 35
2.3.5.1 Elevation angle alignment test result 35
2.3.5.2 Parasitic force measurement result 36
2.4 Mount Design to improve dynamic alignment 37
2.4.1 Issues on mount part 38
2.4.2 Design optimization to Maximize Transparency 39
2.4.3 Effectiveness Validation 42
Chapter 3 Actuator design to Improve Assisting Performance 45
3.1 Introduction 45
3.2 Passive Actuator Design 46
3.2.1 Material selection to Increase Energy-Storing Capacity 46
3.2.2 Hysteresis Characteristic Analysis 48
3.2.2.1 Experiment Setup 49
3.2.2.2 Latex Hysteresis Analysis 49
3.2.3 Actual tension modeling 52
3.3 Tendon routing analysis 54
3.3.1 Desired Torque Profile Study 54
3.3.2 SHR Orthosis Actuation Design 57
3.3.3 Tendon Routing Design 59
3.3.4 Tendon Routing Validation 64
3.3.4.1 Torque Measurement Experiment Design 64
3.3.4.2 Actual Torque Measurement 64
3.4 Torsional spring for lower elevation angle support 66
3.4.1 Torsional spring using carbon fiber rod 66
3.4.2 Leaf spring design using Pseudo-Rigid-Body-Model 67
3.4.3 Experiment Setup 68
3.4.4 Design and Experiment 69
3.4.5 Fabrication and Validation 72
Chapter 4 Fabrication using the Entry-level 3D Printer 74
4.1 Introduction 74
4.2 Mechanical Property Test of 3D Printed Product 75
4.2.1 Considerations on 3D Printing Build Parameter 75
4.2.2 Tensile test 76
4.2.2.1 Tensile Test Theory 76
4.2.2.2 Experiment Design 77
4.2.2.3 Tensile Test Result 78
4.2.3 Bending Test 79
4.2.3.1 Bending Test Theory 79
4.2.3.2 Experiment Design 80
4.2.3.3 Bending Test Result 81
4.2.4 Design Guideline for 3D Printing Fabrication 81
4.2.4.1 Discussion for the Property Test Results 81
4.2.4.2 Design Guideline 82
4.3 Structure Strength Analysis 84
4.3.1 Stress and Deflection Analysis 84
4.3.2 Discussion 88
4.4 Component Embedding Method to Overcome Limitation 88
4.4.1 Concept of Component Embedding 88
4.4.2 Fabrication Result 90
Chapter 5 Effectiveness Validation 92
5.1 Introduction 92
5.2 Assisting Performance Validation using EMG 92
5.2.1 Experiment Design 92
5.2.1.1 Experiment Setup 93
5.2.1.2 Experiment Procedure 93
5.2.1.3 Target Muscle Selection 94
5.2.1.4 EMG signal Acquisition and Processing 96
5.2.2 Experiment Results 96
5.3 Clinical Validation 101
5.3.1 Assessment Tool 101
5.3.1.1 Conventional Assessment Tool Review 101
5.3.1.2 Effectiveness Assessment Index 102
5.3.1.3 Functional Assessment Index 103
5.3.2 Target Patient Selection 104
5.3.3 Effectiveness Assessment Results 105
5.3.3.1 Clinical Trial for MD Patients 106
5.3.3.2 Clinical Trial for ISCI Patients 111
5.3.4 Functional Assessment Results 113
5.4 Discussion 113
Chapter 6 Conclusion 116
6.1 Conclusion 116
6.2 Future Works 117
Bibliography 119
국문초록 127		-
dc.formatapplication/pdf-
dc.format.extent9827112 bytes-
dc.format.mediumapplication/pdf-
dc.language.isoen-
dc.publisher서울대학교 대학원-
dc.subjectDynamic arm support-
dc.subjectOrthosis-
dc.subjectWeight compensation-
dc.subjectShoulder complex-
dc.subjectScapulohumeral rhythm-
dc.subjectClinical validation-
dc.subject3D printing-
dc.subject.ddc621-
dc.titleErgonomic Passive Dynamic Arm Orthosis for People with Upper Extremity Dysfunction-
dc.title.alternative상지 근력 장애인을 위한 인체 동작 특성을 활용한 상지 중력 보상기-
dc.typeThesis-
dc.contributor.AlternativeAuthorSin Minki-
dc.description.degreeDoctor-
dc.citation.pages128-
dc.contributor.affiliation공과대학 기계항공공학부-
dc.date.awarded2017-02-
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