開發慣性感測器為基礎之動作追蹤方法與虛擬實境健身房系統建立

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姓名

黃致傑(JHIH-JIE HUANG) 查詢紙本館藏

畢業系所

電機工程學系

論文名稱

開發慣性感測器為基礎之動作追蹤方法與虛擬實境健身房系統建立
(Development of IMU-based motion tracking method for exercise posture analysis in a virtual reality fitness environment)

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至系統瀏覽論文 (2025-8-1以後開放)

摘要(中)

在疫情時代下，元宇宙蓬勃發展和遠距學習成為主流工具，本研究開發了一套雲端健身系統，結合穿戴式慣性姿態感測器（IMU）及VR頭戴顯示器，以Unity為虛擬平台，在虛擬世界中進行即時運動骨架分析，以實境運動場館VR虛擬健身教練的呈現方式進行健身動作示範與運動姿勢校正之建議，修正使用者運動姿勢以提升運動效率，並加以記錄和分析使用者運動數據。本系統使用12顆慣性感測器，將其配戴在受試者的四肢、腰部及背部，將四元數旋轉數據傳輸致電腦後，以逆向運動學方法計算，準確的獲取人體骨骼運動姿態，並以3D虛擬人物呈現，並可將運動數據紀錄做後續分析。在使用者畫面上，除了教練與自身的3D虛擬骨架外，更實時呈現各部位角度數值及姿勢校正的文字提示。在運動數據分析上，本研究將各部位的運動軌跡用動態時間規整方法(DTW)，將使用者與教練標準動作做相似度分析。本研究的成果經實驗證實，五位受試者經使用本系統後，從原本的錯誤動作，逐漸與標準動作相近甚至貼和，並且避免錯誤的姿態造成運動傷害。這系統除了可以應用在健身房，更可以進一步延伸應用到復健中心，甚至是長照中心，讓使用者在各所需的場景下進行正確的活動，獲得有益身心的成果，結合科技和運動進而實現全民遠端自主運動。

摘要(英)

In the era of epidemic, the metaverse is flourishing and distance learning has become a mainstream tool. This research developed a cloud fitness system, combined with wearable inertial attitude sensor (IMU) and VR head-mounted display, using Unity as a virtual platform, and perform real-time motion skeleton analysis in the virtual world, demonstrate fitness movements and suggest exercise posture correction in the form of VR virtual fitness coaches in real sports venues, correct the user′s exercise posture to improve exercise efficiency, and record and analyze the user sports data. This system uses 12 inertial sensors, which are worn on the limbs, waist and back of the subject, and after the quaternion rotation data is transmitted to the computer, it is calculated by the inverse kinematics method to accurately obtain the motion posture of the human body, and presented as a 3D virtual character. The movement data can be recorded for subsequent analysis. On the user′s screen, in addition to the coach and its own 3D virtual skeleton, the text prompts for the angle value and posture correction of each part are displayed in real time. In the analysis of sports data, this study uses the dynamic time warping (DTW) method for the motion trajectories of each part to analyze the similarity between the user and the coach′s standard movements. The effectiveness of this study have been confirmed by experiments. After using the system, the five subjects gradually moved closer to the standard movements from the original wrong movements, and avoided sports injuries caused by wrong postures. In addition to being used in gyms, this system can be further extended to rehabilitation centers and even long-term care centers, allowing users to perform correct activities in each required scenario and obtain beneficial physical and mental results. Combining technology and sports to realize remote autonomous sports for all.

關鍵字(中)

★ 慣性感測單元
★ 虛擬實境
★ 健身房
★ 逆向運動學
★ DTW

關鍵字(英)

★ IMU
★ virtual reality
★ Gym
★ inverse kinematics
★ DTW

論文目次

中文摘要 i
Abstract ii
目錄 iii
圖目錄 v
表目錄 vii
第一章緒論 1
1-1 研究動機與目的 1
1-2 文獻探討 2
1-3 論文章節結構 4
第二章原理介紹 5
2-1 Unity 3D虛擬環境介紹 5
2-2 Blender 6
2-3 慣性測量單元 6
2-3-1 加速度計（Accelerometer） 7
2-3-2 陀螺儀（Gyroscope） 8
2-3-3 磁力計（Magnetometer） 9
2-4 四元數與歐拉角 11
2-4-1 四元數簡介 11
2-4-2 歐拉角與旋轉 13
2-5 逆向運動學 16
2-6 深蹲運動 18
2-7 Dynamic Time Warping動態時間規整 18
2-7-1 動態時間序列規則 18
2-7-2 動態時間規整公式 19
2-7-3 函數限制 19
第三章研究設計與方法 21
3-1 系統架構 21
3-1-1 健身學習系統 21
3-1-2 深蹲動作規範 22
3-1-3 硬體架構 23
3-1-4 軟體架構 24
3-2 姿態演算法 25
3-2-1 四元數校正 25
3-2-2 使用者介面 26
3-2-3 前向和逆向運動學校正(FABRIK) 27
3-2-4 關節向量算法 28
3-3 實驗方法 29
3-3-1 實驗流程 29
3-4 資料處理 31
3-4-1 運動數據轉換 31
3-4-2 數據分析 32
3-5 姿態感測準確實驗 34
第四章結果與討論 36
4-1 關節運動軌跡 36
4-2 姿態系統準確度量測 44
第五章結論與未來展望 46
第六章參考文獻 47

參考文獻

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指導教授

李柏磊(Po-Lei Lee)

審核日期

2022-8-26

推文