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研究生:蔡志鴻
研究生(外文):Chih-Hung Tsai
論文名稱:虛擬實境輪椅模擬系統應用於身心障者之研發
論文名稱(外文):An Innovation of Virtual Reality Wheelchair Simulator System for Disable Persons
指導教授:楊世偉楊世偉引用關係
指導教授(外文):Sai-Wei Yang
學位類別:碩士
校院名稱:國立陽明大學
系所名稱:醫學工程研究所
學門:工程學門
學類:生醫工程學類
論文種類:學術論文
論文出版年:2005
畢業學年度:93
語文別:中文
論文頁數:85
中文關鍵詞:虛擬實境輪椅運動控制平臺輪椅操作訓練
外文關鍵詞:Virtual RealityWheelchair Motion control platformWheelchair Skill Training
相關次數:
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對初次使用輪椅之身心障礙者必需有一套完善的訓練課程,以便早日重回人群自主生活;然而傳統的輪椅操作訓練課程不僅時程漫長且需要龐大的訓練人力和一個安全無慮的廣大場地,也常因為課程乏味及互動性不佳,使身心障礙者的學習意願低落。本研究目的在於結合個人電腦設備、虛擬實境(VR)建構軟體及自製輪椅運動控制平臺,發展出一套安全且具趣味性之虛擬實境輪椅訓練、評估、復健模擬系統。
模擬系統包含輪椅操作平台、頭戴式顯示器、3D空間定位器、個人電腦及操作訓練程式。其中隨著輪椅旋轉而旋轉的平臺提供了使用者在轉彎時的慣性力之回饋,增加模擬的真實性;軟體方面提供使用者遊戲化的學習場景,增強其參與感;所計錄之時間、運行距離、碰撞次數及使用者視角的改變可做為臨床人員評估輪椅操作技巧之量化依據。為了驗證模擬性統之穩定性及訓練成效,本研究蒐集5位沒有輪椅操作經驗之正常人進行整合系統測試及模擬系統訓練成效測試,其操作路徑長度為22m 、寬度 0.9 m經三日VR訓練後以one sample pair t 統計及分析其效益。
初步整合測試結果顯示,VR整合系統之直線前進測試誤差為1.01%, 90o旋轉測試為0.32%, 180o 為0.77%。 沒有經驗的輪椅操作者在未經VR訓練前於直線運動平均時間為前進92.23 + 13.7、 後退 54.8 + 52.8 秒,壓線次數各為6.4 + 2.9 及5.6 + 5.9次。經三天每日一次之VR訓練後,在前進運動有統計上進步,前進及後退時間減少為42.4 + 5.7 (p=0.001)、24 + 4.5 (p=0.235)秒,平均各減少54 及56%。壓線次數亦減為前進 2.8 + 1.3 (p=0.025)、後退 3 +1.9 (p=0.235) 次,平均各減少 56%及 46% 。而在操練VR軟體三次時間由 88.4 + 6.4 減為 68.4 + 21.32 秒,平均值減少22.6% 但無統計上的差異。初次路測與VR操作輪椅所需的時間近似 ( < 4%) 但訓練後VR操作較實際路測多61%,顯示訓練者在軟體-硬體整合系統中需要更熟練技巧以完成工作。無經驗輪椅使用者能熟稔輪椅之操作,較訓練前有較佳之操作表現,驗證系統訓練成效。

關鍵字:虛擬實境、輪椅運動控制平臺、輪椅操作訓練
Inexperienced wheelchair user who operates the wheelchair is just like to learn how to ride a bicycle or to drive an automobile for the first time, and it can be dangerous without cautions. To make it forward moving may be easy but skillful control the wheelchair definitely needs time and space. The purpose of this study was to develop a virtual reality wheelchair simulator system to help learn the control of manual wheel chair for first time inexperienced users. The system could provide minimum train space as well as fun but effective learning environment.
The VR simulator consists of a wheelchair motion platform, head mount display, angular sensor, personal computer and VR program. The motion platform rotates simultaneously while wheels of the wheelchair turn. The VR training software is then driven by the optical sensors attached to the motion platform. Five first time wheelchair operation volunteers were recruited with three days VR training. Volunteers were asked to operate a standard wheelchair in a 22 meter long 0.9 meter wide walk way, operation time and crash on the trail’s boundary before and after VR training, VR software completed operation time and distance were compared using one-sample t-test statistical method.
The results showed that errors of mechanical and VR software were 1.01 % in linear forward motion, 0.32% in 90o sharp turning, and 0.77% in 180o turning, therefore, the system is very reliable and accurate. For the on-road test of first time users the average time used in linear motion and collision times was 92.23 + 13.7 and 54.8 + 52.8 seconds, 6.4 + 2.9 及5.6 + 5.9 times for forward and backward motion, respectively. After 3 days-one-a-time VR training, the operation time of forward and backward motion were reduced to 42.4 + 5.7 (p=0.001) and 24 + 4.5 (p=0.235) seconds, respectively. The average of reduction was about 54 and 56%。The collision was reduced to 2.8 + 1.3 (p=0.025) and 3 +1.9 (p=0.235) times,the average was about 56% and 46% for forward and backward movement, respectively. The software operation time was from 88.4 + 6.4 seconds to 68.4 + 21.32, the average reducing time was 22.6% but without statistical significance. The first time on-road and VR software operation was similar with difference less than 4%, but after 3 times VR operation the time needed for software operation was 61% higher than on-road usage. It may show the difficulty and challenge of VR training.
This integrated VR-Mechanical wheelchair training system provides effective and pleasure training means for inexperienced wheelchair users.

Keywords: Virtual Reality, Wheelchair Motion control platform, Wheelchair Skill Training
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