因動作障礙至復健部求診的患者日益增多，且大多以每週2到3次的頻率至醫院回診。這對居住偏遠地區病患相當不便。無形中也增加了醫院對物理治療師、職能治療師的人力需求以確保病患復健執行品質。因此遠距居家復健技術成為當今重要的發展課題。
本研究的目的是要建構一套符合臨床使用需求的遠距復健系統，協助居家端與醫院端進行復健資訊聯繫。本系統包括一個以三軸陀螺儀為主要動作感測元件的穿戴式復健動作監控裝置和復健資訊系統。本系統主要功能如下：(1)語音導引病患執行確實且正確的復健動作。(2)即時讓病患自行判斷動作的正確度。(3)協助計數「正確動作」次數。(4)對錯誤動作進行分類並告知錯誤原因。(5)具備遠距處方平台。
穿戴式復健動作監控裝置在角速度19.9(°/s)、55.2(°/s)和95.3(°/s)最大誤差分別為3.0°±7.0°、1.5°±1.7°和1.3°±1.8°。在實際人體動作實驗中與光學立體攝影系統做為比對。結果顯示：本系統可以提供一個具臨床參考價值之人體動作角度追蹤。

Patients with movement disorders for the treatments of physical therapy and other rehabilitative intervention are increasing in number. Most of them attend therapeutic sessions with the frequency about 2 to 3 times weekly, which in not convenient to those patients who live in the remote region. In addition, intensive medical manpower, including physical therapist and occupational therapist, is always required and essential to good rehabilitation qualities. So, tele-rehabilitation becomes a potentially important developed science and technology.
The purpose of this study is to construct a tele-rehabilitation system which fit the needs of therapist and to help providing crucial information of movement which transferring between the hospital and home along the rehabilitation courses. This system includes a wearable human motion capture device and a movement information system, where the main sensor of this wearable human motion capture device is a three-axis gyroscope. The main functions of this system are as follows, (1) The voice guidance which help patients to perform therapeutic exercise correctly and accurately. (2) With the real time machine-patient communication, patients can better determine the quality and accuracy of movements that they are performing. (3) Help counting and documentation of the number of "correct movement". (4) Classification of commonly seen incorrect movements and inform the reason of incorrect moving based on these classification. (5) Establish a tele-prescription platform.
The maximum error of the wearable human motion capture device were 3.0°±7.0°, 1.5°±1.7°and 1.3°±1.8°at the angular velocity 19.9(°/s) , 55.2(°/s) and 95.3(°/s) respectively, comparing with 3D Stereophotographic system at actual human motion experiment. This system can provide a reference value for human motion tracking in clinical use.

中文摘要 I
Abstract II
誌謝 III
目錄 IV
圖目錄 VI
表目錄 IX
第一章　緒論 1
1.1 動機 1
1.2 文獻回顧 3
1.2.1 人體關節角度量測與相關研究 3
1.2.2 復健資訊與回饋系統相關研究 9
1.3 研究目的 13
1.4 論文架構 14
第二章　系統設計 15
2.1 臨床人員問卷調查 15
2.2 系統架構 16
2.3 穿戴式復健動作監控裝置 18
2.3.1 硬體架構圖 18
2.3.2 感測器原理介紹 21
2.3.3 實際硬體 23
2.4 韌體角度計算演算法 24
2.4.1 陀螺儀數據讀取 25
2.4.2 梯形積分 26
2.4.3 動作序列計算 33
2.5 復健參數設定介紹 37
2.6 韌體動作判斷演算法 39
2.6.1 醫院端記錄標準動作 39
2.6.2 居家端復健模式(以單軸動作為例) 42
2.7 居家和醫院端的軟體開發 46
2.7.1介面設計 47
2.7.2系統運作流程 48
第三章　實驗設計與結果 58
3.1 實驗材料 58
3.2 實驗一 59
3.2.1 實驗目的與實驗流程 59
3.2.2 實驗結果 60
3.3 實驗二 63
3.3.1 實驗目的與實驗流程 63
3.3.2 實驗結果 63
3.4 實驗三 67
3.4.1 實驗目的與實驗流程 67
3.4.2 實驗結果 67
3.5 實驗四 68
3.5.1 實驗目的與實驗流程 68
3.5.2 實驗結果 68
3.6 實驗五 71
3.6.1 實驗目的與實驗流程 71
3.6.2 實驗結果 73
3.7 實驗六 82
3.7.1 實驗目的與實驗流程 82
3.7.2 實驗結果 84
第四章　討論 89
4.1實驗二 89
4.2實驗三 91
4.3實驗四 93
4.4實驗五 94
4.5實驗六 97
第五章　結論與未來展望 98
參考文獻 99
附錄一　問卷 103
附錄二　電路設計圖 107
 

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