臺灣博碩士論文加值系統

腳底壓力的分佈特徵在醫學及生物力學的應用上，可作為辨別多種疾病的重要依據，如脊髓性肌肉萎縮症(CMT)的病人其壓力分佈會呈現側邊壓力過大的症狀。且人類的步態會因個體特性的差異而有所不同，可藉由步態的生理訊號分析瞭解病情，及作為矯正改善患者狀況之依據。精確且實用之動態腳底壓力量測需高解析度及靈敏度之儀器，為了實現高解析度、可攜式並具有即時監控的腳底壓力量測系統，本研究發展出以可程式系統晶片(PSoC)為核心之可攜式腳底壓力量測系統，整合硬體系統周邊電路以晶片內部可動態規劃的混合訊號陣列來實現。透過對選擇與擷取電路的控制，將腳底壓力訊號傳送至PSoC 內部放大器、濾波器模組做初步訊號處理，由ADC 模組轉為數位訊號經UART 模組傳送至電腦端，並且改善與腳壓底壓力感測器(F-SCAN)的連接方式，透過與軟體的整合，可即時顯示正常步行情況下的細部腳底壓力變化。
系統測試的結果，在系統擷取速度與傳輸方面，PSoC 系統晶片內部A/D 轉換模組取樣率可高達31.25KHz，壓力擷取速度能達到雙腳16.3Hz，且串列傳輸模組可支援至6MHz。在腳底壓力參數分析方面，在一個步態周期下，本系統可分析腳底壓力參數如壓力的峰值、區域平均壓力變化、壓力-時間積分參數、左右腳壓力數值比重、壓
力重心位置、單腳與雙腳壓力重心偏移軌跡以及腳底受力面積等參數。可提供醫師、復健師做為評估腳底壓力的依據。

The purpose of this research is to develop a plantar pressure acquisition system using embedded Programmable System on Chip(PSoC) technology to acquire plantar pressure. The objective of this development is to make the acquisition device available for physician and
research to acquire data on line and in real-time. The distribution of plantar pressure is an important to identify diseases such as peripheral
neuropathy, plantar ulcer, varus, talipes valgus, flat-footed, etc. Patients with polyneuropathy often lose sensation of pain at their feet. They are high-risk groups for developing neuropathic ulcers on the plantar surface of their feet. That may lead to lower extremity amputation. Using plantar pressure evaluation system, physicians are able to monitor the improvement of patient’s illness. Therefore, the device is having a specification of acquiring plantar pressure 10 frames per second. That will be able to recording a regular walking pattern.

摘要 I
Abstract II
謝誌 III
目錄 IV
圖索引 VII
表索引 IX
第一章　緒論 1
1.1　前言 1
1.2　文獻回顧 2
1.3　研究目的 5
1.4　論文架構 5
第二章　背景 7
2.1　腳底壓力的起源與研究 7
2.1.1　步態研究的起源 7
2.1.2　腳底壓力的步態研究 8
2.2　生理訊號擷取儀器的架構 10
2.3　腳底壓力量測方法 11
2.3.1　Force Plate System 11
2.3.2　Placed Sensors System 11
2.4　壓力感測裝置 12
2.4.1　Emed-X Platform 12
2.4.2　Force Sensing Resistors (FSR) 13
2.4.3　Tekscan (F-Scan) 13
2.5　腳底壓力量測系統 14
2.6　PSoC系統晶片概述 17
2.6.1　PSoC特色概述 18
2.6.2　PSoC內部架構與功能說明 18
2.7　PSoC發展環境 25
2.8　本章總結 26
第三章　系統架構與方法 27
3.1　系統組成 27
3.2　硬體架構 28
3.2.1　腳底壓力換能器 29
3.2.2　選擇與擷取電路 32
3.2.3　PSoC可程式設計 35
3.3　軟體架構 50
3.3.1　腳底壓力訊號擷取程式架構 50
3.3.2　腳底壓力訊號顯示處理程式架構 53
3.4　總結 58
第四章　系統測試與結果 59
4.1　系統設備 59
4.2　實驗設計 61
4.2.1　實驗設備 61
4.2.2　受測者基本資料統計 61
4.2.3　實驗步驟 62
4.3　系統實際測試 62
4.3.1　系統硬體 63
4.3.2　系統軟體 64
4.4　實驗結果 66
第五章　系統討論 68
5.1　腳底壓力量測系統 68
5.2　量測壓力的範圍 69
5.3　擷取速度的討論 69
5.4　腳底壓力參數 70
5.4.1　步態周期 71
5.4.2　腳底壓力的峰值 72
5.4.3　指定腳底區域的壓力數值變化 72
5.4.4　壓力-時間積分參數 73
5.4.5　左右腳的壓力數值比重 73
5.4.6　壓力重心的位置 73
5.4.7　單腳壓力重心偏移的軌跡 74
5.4.8　雙腳壓力重心偏移的軌跡 75
5.4.9　腳底壓力面積大小 75
5.5　本章總結 76
第六章　結論與未來展望 77
6.1　系統硬體改良 77
6.2　硬體電源部分 78
6.3　訊號擷取速度 78
6.4　系統校準 78
第七章　參考文獻 80
附　錄 85
附錄一　CY8C26643腳位圖與功能表 86
附錄二　PSoC模組資料手冊 87
Inverting Amplifier(AMPINV_A) 87
Features and Overview 87
Instrumentation Amplifier(INSAMP) 88
Features and Overview 88
Programmable Gain Amplifier(PGA) 89
Features and Overview 89
8-Bit Delta Sigma ADC(DELSIG8) 90
Features and Overview 90
12-Bit Incremental ADC(ADCINC12) 91
Features and Overview 91
Two-Pole Low Pass Filter(LPF2) 92
Features and Overview 92
8-Bit Counters(Counter8) 93
Features and Overview 93
8-Bits Pulse Width Modulators(PWM) 94
Features and Overview 94
Universal Asynchronous Receiver Transmitter (UART) 95
Features and Overview 95
附錄三　F-SCAN腳底壓力感測器 96
附錄四　Analog Input&Output Muxing 97
Analog Input Muxing 97
Analog Output Buffer 97

圖索引
圖2- 1 蝴蝶狀重心偏移示意圖................................................................................9
圖2- 2 矯正前與矯正後的連續足底壓力重心偏移軌跡圖....................................9
圖2- 3 生理訊號量測儀器的架構與系統流程......................................................10
圖2- 4 Novel Emed-X System .................................................................................12
圖2- 5 FSR 圖..........................................................................................................13
圖2- 6 腳壓墊換能器內部架構圖..........................................................................14
圖2- 7 Microprocessor-Based Data-Acquisition System 架構圖...........................15
圖2- 8 Holter-type System 架構圖..........................................................................16
圖2- 9 PSoC 內部架構圖........................................................................................19
圖2- 10 PSoC 類比陣列區塊位置圖......................................................................21
圖2- 11 類比區塊與外部接腳間輸入與輸出關係圖............................................22
圖2- 12 數位方塊結構分佈圖................................................................................23
圖2- 13 數位區塊與外部接腳間輸入與輸出關係圖............................................23
圖2- 14 乘法/加法累加器架構圖...........................................................................24
圖3- 1 腳底壓力量測系統示意圖..........................................................................28
圖3- 2 F-SCAN 腳壓墊換能器外觀與內部架構圖...............................................29
圖3- 3 壓力-電阻轉換曲線及其正規化後的曲線.................................................30
圖3- 4 腳壓墊換能器輸出接點與夾板式電路板..................................................31
圖3- 5 腳壓墊換能器直列接頭示意圖..................................................................31
圖3- 6 腳壓墊換能器橫列接頭示意圖..................................................................31
圖3- 7 選擇與訊號處理電路示意圖......................................................................32
圖3- 8 選擇與訊號處理電路方塊圖......................................................................33
圖3- 9 直排選擇電路應用線路圖..........................................................................34
圖3- 10 橫排選擇電路應用線路圖........................................................................34
圖3- 11 CY8C26643 應用線路圖...........................................................................34
圖3- 12 電池供應電源升壓電路與變壓器供應電源切換電路............................35
圖3- 13 PSoC 系統晶片內部流程..........................................................................36
圖3- 14 腳底壓力量測系統之PSoC 全域資源(Global Resources) ......................37
圖3- 15 腳底壓力量測系統之PSoC 晶片內部架構.............................................37
圖3- 16 PGA 模組電路圖與運算公式...................................................................39
圖3- 17 可程式放大器之模組參數設計與模組配置區........................................40
圖3- 18 LPF2 電路圖..............................................................................................41
圖3- 19 四階濾波器模組參數與配置....................................................................42
圖3- 20 四階低通濾波器頻率響應圖....................................................................44
圖3- 21 DELSIG8 模組參數配置圖.......................................................................44
圖3- 22 DELSIG8 模組電路圖架構圖...................................................................44
圖3- 23 ADCINVCR 模組參數配置圖..................................................................46
圖3- 24 ADCINVCR 模組電路圖架構圖..............................................................46
圖3- 25 ADCINCVR 之PWM 輸出響應時間週期...............................................46
圖3- 26 UART 模組參數配置.................................................................................47
圖3- 27 UART 電路圖架構圖.................................................................................47
圖3- 28 PWM 模組配置..........................................................................................48
圖3- 29 PWM 模組電路圖架構圖..........................................................................48
圖3- 30 Counter8 模組參數配置............................................................................49
圖3- 31 腳底壓力訊號擷取程式架構圖................................................................51
圖3- 32 腳底壓力訊號擷取程式流程圖................................................................51
圖3- 33 訊號擷取程式介面....................................................................................52
圖3- 34 腳底壓力顯示處理架構流程圖................................................................53
圖3- 35 均化程式流程圖........................................................................................54
圖3- 36 系統校準流程圖........................................................................................55
圖3- 37 原始數值對真實壓力的轉換趨勢線圖....................................................56
圖3- 38 正規化轉換線圖........................................................................................56
圖3- 39 連續時間C.O.P 顯示流程........................................................................57
圖4- 1 腳底壓力量測系統雙腳訊號擷取硬體......................................................60
圖4- 2 硬體尺寸約為100mm×80mm×25mm 大小...............................................60
圖4- 3 ICE-4000 模擬器.........................................................................................60
圖4- 4 腳底壓力量測系統穿戴情形......................................................................62
圖4- 5 原始壓力圖與影像平滑處理比較圖..........................................................64
圖4- 6 腳底壓力C.O.P 位置圖..............................................................................65
圖4- 7 連續重心軌跡..............................................................................................65
圖4- 8 重心移動軌跡亦呈蝴蝶狀分佈..................................................................66
圖4- 9 正常足在一個步態周期的壓力分佈圖形..................................................67
圖5- 1 夾板式電路板側面圖..................................................................................69
圖5- 2 手動選取壓力影像......................................................................................71
圖5- 3 步態周期初始狀態與終值狀態..................................................................71
圖5- 4 連續壓力重心位置......................................................................................74
圖5- 5 單腳壓力重心偏移軌跡..............................................................................74
圖5- 6 雙腳壓力重心偏移軌跡..............................................................................75

表索引
表3- 1 腳底壓力量測系統之PSoC 類比區塊資源表...........................................38
表3- 2 腳底壓力量測系統之PSoC 數位區塊資源表...........................................38
表3- 3 校準量測壓力統計表..................................................................................55
表4- 1 受測者基本資料統計表..............................................................................61
表4- 2 系統擷取速度效能比較表..........................................................................64

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