臺灣博碩士論文加值系統

不正確的走路姿勢和習慣常在不知不覺中對身體的健康造成了傷害，其因多來自於長期以單側肩背或提重物，容易造成身體兩邊受力不平衡，長時間下來便容易造成腰痠背痛的現象。以上所述徵狀多成因在身體兩側步行時的不平衡，因此對於支撐全身體重的腳底造成了集中在單點的壓力，一般走路多是利用足跟、足內弓往前到大拇趾關節的力量，無論磨損內側或是外側，都表示足底承受的力量不一，長久下來，容易造成關節炎的現象。而直立時，全身的體重都壓在足部，但身體還是會自然做出反應使身體所有的重量偏向單側的同一點，如在碰上神經萎縮的病症如糖尿病足因傷口導致潰爛，最終只得截肢。
本論文是利用不同的姿勢會將重量壓在足底不同支撐點的特性，在足底各主要支撐點的部分擺上壓力感應墊片，感應輸出壓力訊號，並將可攜式紀錄器配帶於人體上，同時透過無線傳輸的方法即時將壓力訊號資料傳輸出去到電腦上觀察，來探討不同的姿勢所產生的足底壓力重心運動軌跡足壓中心的變化，以利研究人員能初步進行判斷與實施矯正。

Incorrect walking posture and habit usually cause discomfort of feet and even injuries. There are various researches on foot pressure in the patients with amputation who have nerve muscular dystrophy and need assistant equipment , or subjects with muscle unbalance and back pain due to handling heavy items on one shoulder for a long period.
The major causes for the above symptoms are due to the unbalance during walking. The foot pressure from the body weight is focused onto a single point. The non-uniformity support of foot joint usually results in arthritis. Since body weight is pressed on a single point , hardly on the joint area (with only 5 -10 square meter ) during walking or standing. This may cause and finally amputation for people who have nerve atrophy symptom. On the other side, the joint pressure may be increased due to the acceleration and gravity pressure during walking , thereby causing muscle pain.
Recently, most researches on foot pressure are based on sensor or image system , This thesis is to develop a portable system to measure foot force on both foot simultaneously. Five force sensors are put on the points that are the major supporting areas. The measured signals are wireless transmitted to a computer for computing the distribution of foot pressure during inappropriate posture. Our system has an advantage of low cost
and quick setup.

指導教授推薦書 ........................................
口試委員會審定書授權書 .................................
授權書 .............................................. iii
致謝................................................. iv
中文摘要 ............................................. v
英文摘要 ............................................. vi
目錄................................................. vii
圖目錄 .............................................. x
表目錄 ............................................... xiii
第一章緒編 ............................................ 1
1.1 前言 ............................................. 1
1.2 研究背景........................................... 2
1.3 相關論文研究 ....................................... 3
1.3.1 足底壓力量測 ..................................... 3
1.3.2 足壓中心......................................... 6
1.4 研究動機與目的 ...................................... 9
第二章研究方法 .......................................... 10
2.1 步態分析............................................ 10
2.1.1 足度骨骼結構 ...................................... 10
2.1.2 運動力學及運動學特徵簡介 ............................ 12
2.1.3 步態週期 ( Gait Cycle ) .......................... 13
2.2 足底壓力訊號量測 ..................................... 15
2.2.1 足底壓力分佈 ...................................... 16
2.2.2 重心轉移軌跡標..................................... 17
2.3 壓力訊號感測裝置 ..................................... 18
2.3.1 Footscan® D3D systems ........................... 19
2.3.2 Emed-X Platform ................................. 20
2.3.3 F-SCAN .......................................... 21
2.3.4 Pedar ........................................... 21
第三章軟硬體系統架構 ...................................... 23
3.1 系統架構............................................ 24
3.1.1 系統硬體介紹與接收介面設計 ........................... 25
3.1.2 可攜式感測器與慣性感測元件 ........................... 25
3.1.3 訊號擷取裝置 ...................................... 29
3.1.4 壓力墊片選用 ...................................... 31
3.1.5 壓力墊片擺設位置.................................... 32
3.2 軟體介面............................................ 33
3.2.1 MSP430 程式編碼原則 ............................... 33
3.2.2 壓力感測器訊號量測與設定 ............................ 34
3.2.3 虛擬人機控制介面程式C# ............................. 35
3.2.4 儲存格式 ......................................... 38
3.3 分析演算法.......................................... 39
第四章實驗結果與討論 ..................................... 41
4.1 實驗介紹與模擬動作 ................................... 42
4.2 實驗結果............................................ 43
4.2.1 感測器訊號分析...................................... 43
4.2.2 感測器訊號分析結果 ................................. 44
4.2.3 感測器訊號驗證..................................... 49
4.3 實驗討論............................................ 55
第五章結論與未來展望 ..................................... 57
參考文獻 ............................................... 59

圖目錄
圖 1-1：EMED 壓力板分區塊圖................................ 4
圖 1-2：足底壓力分佈量測圖.................................. 4
圖 1-3：壓力感測器之製作流程圖............................... 6
圖 1-4：(a)足壓分力示意圖(b)足壓合力示意圖.................... 6
圖 1-5：Hong.W.C 研究之壓力感應分區圖........................ 8
圖 1-6：Morris 等人所設計之足底壓力鞋墊擺設位置................ 8
圖 2-1：足底分區標示圖..................................... 10
圖 2-2：足部骨骼示意圖..................................... 11
圖 2-3：蝴蝶狀重心軌跡變化示意圖............................. 12
圖 2-4：步態周期各階段使用肌肉部位示意圖....................... 14
圖 2-5：動態足弓指標示意圖.................................. 15
圖 2-6：支持期腳底壓力變化示意圖............................. 16
圖 2-7：連續重心轉移所描繪之蝴蝶圖............................ 17
圖 2-8：訊號感測處理流程圖.................................. 18
圖 2-9：Footscan® D3D systems 壓力板...................... 20
圖 2-10：Emed-X Platformu 壓力板 ......................... 20
圖 2-11：F_SCAN 鞋墊式壓力墊片及內部架構圖.................... 21
圖 2-12：Pedar 鞋墊式壓力墊片與軟體搭配圖..................... 22
圖 3-1：系統架構圖......................................... 23
圖 3-2：系統訊號處理流程圖................................... 24
圖 3-3：硬體系統訊號傳遞流程圖................................ 25
圖 3-4：可攜式感測器(正面) .................................. 26
圖 3-5：可攜式感測器(反面) .................................. 27
圖 3-6：ADXL330 擺設方向與各軸重力加速度示意圖.................. 27
圖 3-7：LYPR540AH 三軸角速度輸出示意圖........................ 28
圖 3-8：nRF24L01 無線藍芽發射器內部架構圖 ..................... 29
圖 3-9：訊號擷取處理裝置..................................... 30
圖 3-10：訊號擷取電路........................................ 31
圖 3-11：FSR402 壓力墊片.................................... 32
圖 3-12：壓力墊片擺放位置示意圖................................ 32
圖 3-13：軟體傳遞流程........................................ 33
圖 3-14：藍芽裝置設定示意圖................................... 35
圖 3-15：Visual Studio 控制介面示意圖 ........................ 37
圖 3-16：程式運行時接收訊號狀況................................ 38
圖 3-17：.txt 儲存格式....................................... 39
圖 3-18：壓力訊號重心點計算流程圖............................... 40
圖 4-1：壓力墊片搭配鞋墊示意圖.................................. 41
圖 4-2：裝置配帶位置示意圖..................................... 42
圖 4-3：走路訊號測試結果顯示.................................... 44
圖 4-4：跑步訊號測試結果顯示.................................... 45
圖 4-5：脊椎側彎訊號測試結果顯示................................. 46
圖 4-6：X 型腿訊號測試結果顯示.................................. 47
圖 4-7：O 型腿訊號測試結果顯示.................................. 48
圖 4-8：走路訊號合併結果顯示.................................... 50
圖 4-9：跑步訊號合併結果顯示.................................... 51
圖 4-10：脊椎側彎合併測試結果顯示................................ 52
圖 4-11：X 型腿訊號合併結果顯示................................. 53
圖 4-12：O 型腿訊號合併結果顯示................................. 54

表目錄
表 3-1：一組完整感測器訊號排列方式............................... 34
表 4-1：壓力訊號重疊圖計算之結果................................. 55

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