四軸史都華平台應用於輪椅座椅多自由度調整機構設計
許博爾 徐業良 張程皓 翁啟軒 曾吉宏
DOI:10.6283/JOCSG.2013.1.1.125
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中文摘要 輪椅的座椅是使用者與輪椅之間接觸最直接、時間也最長的人機介面。座椅調整功能的設計是能否滿足使用者對於乘坐舒適性與日常生活輔助功能需求的關鍵。本論文提出了一個多自由度座椅調整機構設計，其以輕量化、結構簡潔、與直覺地控制方式，滿足輪椅使用者對於日常生活的座椅調整需求。多自由度座椅調整機構是以4軸史都華平台所達成，具備有升降起伏、前後翻滾、與左右橫移等3個自由度，提供座椅高度改變、傾角調整、與平移轉位輔助的功能。本座椅機構特殊的幾何設計及接點選擇可讓使用者僅須利用按鍵即可直覺地調整座椅機構。
關鍵字：座椅調整機構、史都華平台、機器人輪椅、左右平移
文章建立時間：2013-05-09
引用格式(APA)：
許博爾, 徐業良, 張程皓, 翁啟軒, 曾吉宏(2013)。 四軸史都華平台應用於輪椅座椅多自由度調整機構設計。
福祉科技與服務管理學刊， 1(1)， 125-132。
The Multiple-DOF Seat Adjustment Mechanism Design Based on the 4-axis Stewart Platform
Hsu, P.-E., , *Hsu, Y.-L., , Chang, C.-H., , Weng, Q.-X., , Zeng, J.-H.,
English Abstract The wheelchair user makes direct contact with the seat, which serves as the interface between the user and the wheelchair, for much of any given day. Seat adjustment design is of crucial importance in providing proper seating posture and comfort. This paper presents a highly adjustable seat adjustment mechanism, which is designed to increase the independence of the wheelchair user, while maintaining a concise structure, using a light weight design, and providing an intuitive control interface. This four-axis Stewart platform is capable of the dealing with the motions of heaving, pitching, and swaying while providing seat elevation, tilt-in-space options, and sideways movement functions. The geometry and types of joints of this mechanism are carefully arranged so only one actuator needs to be moved at any one time for any particular desired motion, enabling the wheelchair user to adjust the seat by simply pressing a button.Keywords：seat adjustment mechanism, Stewart platform, robotic wheelchair, sideways movement