手推輪椅虛擬實境系統開發之研究

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姓名

謝凱傑(Kai- Jie Sie) 查詢紙本館藏

畢業系所

機械工程學系

論文名稱

手推輪椅虛擬實境系統開發之研究
(Development of a Virtual Reality Manual Wheelchair System)

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摘要(中)

對肢體障礙人士而言，手推輪椅是目前最經濟又實用的行動輔具之一，增進手推輪椅的操縱能力，可以讓患者早日恢復自主行動的能力，減輕家人與醫護人員的照顧壓力與社會成本，重新回到社會，重拾正常的一般生活。然而傳統的手推輪椅訓練，不但需要一個完善安全的場地，且必須時時刻刻小心肢障者移動過程中的安全性。本研究結合機電整合與虛擬實境技術，改裝真實手推輪椅上，開發一套虛擬實境手推輪椅系統，讓患者在安全環境中，就可以從事輪椅的操作學習。
本研究除系統開發外，並進行了系統檢測與操作表現評估實驗。系統的檢測結果顯示，編碼器的誤差在0.1% 以下，且在虛擬環境中的運動表現誤差非常微小。操作表現之評估是以正常人戴上頭戴式顯示器(Head Mounted Display, HMD)觀看虛擬環境，並實際操作手推輪椅於戶外環境中移動。受測者在虛擬環境中的花費時間較真實環境長，且多數的測試路線，其正相關性達到統計上之顯著水準。受測者於本實驗中使用頭戴式顯示器，其生理或心理上並無強烈的不適感。

摘要(英)

Manual wheelchair is one of the most frugal and useful assistive devices for people with physical impairment. The advancement of manual wheelchair control ability could help the patients restore their mobility as soon as possible, and return their daily life. But traditional training of manual wheelchair need a site with flawless security and have to be careful the safety of the patients when they move everywhere. This study develop a virtual reality manual wheelchair system by using VB、3ds and EON software. It can match with platform、physiology monitor or other peripheral equipments in the future. Patients can do wheelchair training indoors safely and peacefully rather then move outdoors dangerously, and play in the virtual environments.
During the development of this system, the system calibration and operation of performance evaluation were be proceeded. The physiological or psychological feelings of participants were observed when they looked at the virtual scene with HMD and operated the manual wheelchair outdoors. The results showed that the error of encoder was below 0.1% and the error of motion performance in the virtual environment was acceptable. The performance of the subjects in the virtual environment was compared with that in the real environment. The time spent in the virtual environment was longer than that in the real environment, and their positive correlation was significant. This shows that the developed system can simulate the real environment. The subjects did not feel uncomfortable when they used HMD in this experiment.

關鍵字(中)

★ 手推輪椅
★ 頭戴式顯示器
★ 虛擬實境

關鍵字(英)

★ Manual wheelchair
★ Head-mounted display
★ Virtual Reality

論文目次

總目錄
摘要............................................................................................................................................i
Abstract......................................................................................................................................ii
致謝..........................................................................................................................................iii
總目錄......................................................................................................................................iv
圖目錄.....................................................................................................................................vii
表目錄.......................................................................................................................................x
符號說明.................................................................................................................................xii
第一章緒論..............................................................................................................................1
1-1 研究背景.........................................................................................................................1
1-2 研究目的.........................................................................................................................3
1-3 研究方法與流程.............................................................................................................3
第二章理論介紹與文獻回顧..................................................................................................6
2-1 手推輪椅簡介.................................................................................................................6
2-1-1 發展歷史..................................................................................................................6
2-1-2 手推輪椅種類..........................................................................................................8
2-1-3 構造簡介................................................................................................................11
2-1-4 使用族群................................................................................................................12
2-1-5 輪椅運動理論........................................................................................................13
2-2 虛擬實境輪椅相關研究...............................................................................................16
2-2-1 虛擬實境輪椅於訓練方面的應用........................................................................16
2-2-2 史崔克萊大學(The University of Strathclyde)的虛擬實境輪椅研究..................18
2-2-3 虛擬實境輪椅其他方面的研究..........................................................................19
2-3 結合HMD的相關研究文獻........................................................................................20
2-4 小結...............................................................................................................................24
第三章虛擬手推輪椅系統規劃與開發................................................................................25
3-1 系統功能與規格...........................................................................................................25
3-1-1 系統功能.................................................................................................................25
3-1-2 系統規格.................................................................................................................26
3-2 系統硬體介紹...............................................................................................................26
3-3 系統軟體介紹...............................................................................................................33
3-4 系統整合.......................................................................................................................37
3-4-1 程式結合運動數學式............................................................................................37
3-4-2 虛擬環境內容........................................................................................................40
3-4-3 系統架構................................................................................................................42
第四章系統檢測與實驗規畫................................................................................................44
4-1 研究對象.......................................................................................................................44
4-2 實驗項目.......................................................................................................................44
4-3 系統檢測規劃...............................................................................................................45
4-3-1 編碼器檢測規劃....................................................................................................45
4-3-2 基本動作檢測規劃................................................................................................46
4-4 操作表現實驗規畫.......................................................................................................47
4-4-1 實驗設計................................................................................................................47
4-4-2 實驗場地配置........................................................................................................50
4-4-3 實驗記錄資料........................................................................................................53
4-4-4 實驗程序................................................................................................................54
第五章結果與討論................................................................................................................59
5-1 系統檢測分析...............................................................................................................59
5-1-1 編碼器分析............................................................................................................59
5-1-2 基本動作分析........................................................................................................66
5-2 操作表現實驗分析.......................................................................................................74
5-2-1 實驗數據分析........................................................................................................74
5-2-2 問卷分析................................................................................................................95
第六章結論與未來發展建議..............................................................................................100
6-1 結論.............................................................................................................................100
6-2 未來發展建議.............................................................................................................102
參考文獻...............................................................................................................................103
附錄A 個人基本資料...........................................................................................................106
附錄B 頭戴式顯示器(HMD)主觀感受度之問卷內容.......................................................107
附錄C 虛擬手推輪椅操控系統擬真性之問卷內容...........................................................108
附錄D 受測者同意書...........................................................................................................109

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指導教授

黃俊仁(Jiun-Ren, Hwang)

審核日期

2008-7-22

推文