Analysis of wheelchair propulsion and hand force pattern based on manipulation ability of the upper limb
Analysis of wheelchair propulsion and hand force pattern based on manipulation ability of the upper limb
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基于上肢操控能力的轮椅推进力及手部用力模式分析
DOI：
10.1299/kikaic.73.2279
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发表时间：
2007
期刊：
影响因子：
--
通讯作者：
K. Kiguchi
中科院分区：
文献类型：
--
作者：
M. Sasaki;T. Iwami;G. Obinata;K. Miyawaki;Hiroki Miura;Y. Shimada;K. Kiguchi
在本文中，我们分析了一个用户友好的轮椅推进的驱动力的动态指标。该指标解释了在轮椅推进过程中，使用者在关节力矩中能够承受多大的裕度，并以动态操纵力椭球（DMFE）表示。的DMFE是从用户的上肢关节处产生的最大力矩的测量值示出的，并用于定量地了解用户的轮椅推进能力的裕度。基于该指标，我们还提出了驱动力贡献系数（DFCF）的概念，以阐明用户如何有效地完成轮椅推进。DFCF表示扶手上产生的力与切向方向的方向余弦。如果DFCF沿驱动力方向沿着取大值，则意味着所施加的力有效地用于轮椅推进。为了显示DMFE和DFCF的有效性，我们测量了8名经验丰富的轮椅使用者上肢的驱动运动，施加到扶手上的手力，以及个人的肌肉力量特征。从实验数据，它表明，用户开始驱动扶手在这样的姿势，它是难以产生所需的手的力量来驱动轮椅。它还表明，用户驾驶的轮椅，考虑到上肢的负载和效率的轮椅推进。
In this paper, we analyze a user-friendliness of wheelchair propulsion by using a dynamic index of the driving force. The index explains how much margin the user can take in joint moments to his maximum ability during wheelchair propulsion, and is expressed by the dynamic manipulating force ellipsoid (DMFE). The DMFE is illustrated from the measured values of maximum generated moments at the user's upper limb joints, and is used to understand quantitatively the margin of the user's ability for wheelchair propulsion. Based on the index, we have also proposed the concept of the driving force contribution figure (DFCF) to clarify how efficient the user accomplishes the wheelchair propulsion. The DFCF expresses the direction cosine of generated force on the handrim to the tangential direction. If the DFCF takes large value along the driving force direction, it means the applied force acts efficiently for wheelchair propulsion. In order to show the effectiveness of DMFE and DFCF, we measured the driving motion of the upper limb, hand force applied to the handrim, and the individual's muscular power characteristics for eight experienced wheelchair users. From the experimental data, it is shown that the users start driving the handrim at such posture where it is difficult to generate required hand force to drive the wheelchair. It is also shown that the user are driving the wheelchair taking the load of the upper limb and the efficiency of the wheelchair propulsion into consideration.