由於國內人口組成趨向高齡化，照護需求增加但勞動人口比例下降，
姿態轉換輔具的需求亦逐年升高。目前市面上坐站姿轉換輔具主要分為手
動驅動與馬達驅動兩種，前者雖然機構設計較為複雜，但價格較低，重量
輕，後者需要較高驅動力的馬達輔助人體完成站立，整體重量較重且價格
高。本研究提出一種以彈簧靜力平衡坐站姿轉換輔具，藉由平衡機構的省
力特性，配合手動驅動時可以大幅度減少使用者的負擔，配合馬達驅動亦
可降低所需的馬達規格。
本研究將針對此動作設計新型坐站姿轉換輔具，透過收集並分析現有
設計之構造，並歸納其功能特性。利用顏氏機構設計方法結合陳氏平面單
自由度靜力平衡彈簧配置圖譜，設計六桿七接頭的坐站姿轉換之新型機構。
並藉由分析身體各部位質量比例以及關節角度變化，機構運動條件，並利
用幾何約束編程(Geometric Constrain Programing)設計機構桿件尺寸。利用
靜力平衡基本理論進行力學位能計算，亦考慮不同體重的使用者，增加了
手動式變負載功能設計。接著使用電腦輔助設計完成裝置的細部設計，並
使用 Adams 軟體模擬驗證。最後製作原型機進行實驗驗證本研究設計可行
性。設定 60kg 至 90kg 量級之使用者，在機構坐墊桿轉動 70 度的運動範圍
內皆可達任意位置靜止，且使用者在坐姿轉換為站姿所需的外加拉力至少
省力 83.1％以上，驗證創新設計的省力效果。

Due to the aging of the population, the demand for caregiving is increasing
but the working population is decreasing. Therefore, the requirements of assistive
devices for changing the user's posture are growing year by year. Sit-to-stand
(STS) assistive device can be classified into two types, manual operating and
motor driving. The former is cheaper and lighter but the mechanism design is
more complicated. The latter design is simpler, but a higher drive motor is
required to assist the body to complete the motion of standing. Therefore, the
overall weight is heavier and the price is higher. Thus, this study proposes a
innovative design of spring-balanced STS assistive device. Firstly, the existing
designs are surveyed, and their structural and functional characteristics are
summarized. Secondly, an innovative STS mechanism with six links and seven
joints is synthesized by using Yan’s Creative Mechanism Design (CMD)
methodology and Chen’s atlas of general spring balancing mechanisms with oneDOF. Thirdly, the movement conditions are obtained through analyzing mass
proportion of each body part and the changing of joint angle. Fourthly, the
dimensional design is made by Geometric Constrain Programming (GCP). Fifthly,
the force analysis is determined through the gravitational and elastic potential
energy. Sixthly, considering the users with different weights, a design of manual
adjustment for variable payload is provided. Finally, the performance of the
proposed mechanism is verified through computer-aided simulation with
ADAMS software and prototype testing. The simulated result shows that the total
energy is conservated durion the motion. The prototype testing is conducted by
four users weighing between 60kg and 90kg, and the required external force
applied by the caregiver is measured by a force gauge. As the result, to help the
4
user complete the motion from a sitting posture to a standing posture, the forcesaving effect is over 83.1%.

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