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研究生:陳彥妤
研究生(外文):Chen, Yen Yu
論文名稱:用於動作引導之穿戴式觸覺回饋系統
論文名稱(外文):An Exploratory Study Of Wearable Motion Guidance System
指導教授:余能豪余能豪引用關係
指導教授(外文):Yu, Nen Hao
學位類別:碩士
校院名稱:國立政治大學
系所名稱:資訊科學學系
學門:工程學門
學類:電資工程學類
論文種類:學術論文
畢業學年度:103
語文別:中文
論文頁數:50
中文關鍵詞:觸覺回饋運動指引人工外部肌肉穿戴式裝置
外文關鍵詞:tactile feedbackmotion guidanceartificial external musclewearable device
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當今運動健身蔚為風潮,加上網路資源普及,許多人藉由數位教學影片鍛鍊體 魄,不但能自由安排時間,也能在家參與課程,成為新世代的學習方式。傳統上,運 動健身較好的方式為教練在旁協助,除了口頭給予即時的指示,還能直接以身體觸碰 學員姿勢不良的部位,引導其肢體伸展、調整身體重心、提醒放鬆過於緊繃之部位, 然而新世代的學習方式透過教學影片無法立即對運動者當下的肢體動作做出反應,過 程中全倚賴運動者本身對於肢體的認知,往往和影片中教練的動作有落差而不自知, 因此,本研究期望藉由觸覺回饋輔助使用者做出正確的姿勢或動作。
過去針對觸覺回饋的研究相當地多,甚至可回溯至1950年代,然而將觸覺回饋應 用於運動指引的研究近年才漸漸出現,其應用層面僅限於提示作用,無法引導使用者 該如何動作,且目前回饋方式仍需倚賴受測者記憶動作與觸覺回饋的對應關係,無法 直覺做出反應。本研究模仿肌肉群收縮帶動肢體運動之方式,設計人工外部肌肉引導 手臂旋前旋後動作,人工外部肌肉包含步進馬達產生拉力、魚線及鬆緊帶模擬肌肉分 佈、收縮以及袖套包覆手臂帶動旋轉,系統設計歷經三版本的演進,最終設計出一套 具引導效果的觸覺回饋穿戴式裝置。
系統評估共邀請10位受測者進行實驗,結果證實此套裝置能有效提供方向性指示 (正確率98%),且受測者普遍反應裝置提供的回饋方式相當直覺,手臂會有被帶動 的感覺,能馬上知道該如何轉動手臂。實驗更進一步測試引導手臂轉動特定角度,實 驗結果效果也相當好,平均誤差在3度以內,此外,亦探討實驗過程中受測者對觸覺回 饋的行為反應,作為日後系統改良或觸覺回饋設計的參考。
Nowadays, exercise and fitness have become a growing trend. Since the access to the internet resources is very easy and popular, many people choose to do exercise through digital online videos, which not only they can arrange their own exercising schedule, but also they can learn the courses at home. Traditionally, a better way for exercise learning is getting assistance from a professional coach, who can give instruction immediately, and adjust by direct body contact right away while the exercisers act incorrectly. However, the online video can not accomplish the purpose. On the condition that the exercisers rely only on the cognition of their own bodies they might not notice their posture different from the video. This research aimed to provide guidelines to do the correct posture or movement through tactile feedback.
From past till now, the researches of tactile feedback are of considerable numbers, we can find the related researches back to 1950s. Recently it starts to be applied in exercising guiding. However, the applications only provide passive instructions, which require users to memorize the relationship between the tactile feedbacks and the correspond actions. Users are unable to react by instinct. In this research, we imitate the way of body movement driven by the muscles contraction. We design artificial external muscles on a sleeve to guide forearm pronation and supination. The wearable tactile feedback sleeve consists of stepper motors to provide pulling force, fishing wires and elastics to imitate muscle contraction to drive the forearm to roll. This system design has been revised three times, and we finally established a wearable tactile feedback device which has guiding effect.
10 participants are recruited for the experiments. The result showed that this device can guide forearm rolling successfully (the accuracy is 98%). The participants commented that the feedback is very close to instinct. They felt their arm was guided by the device, and knew the exact moment to roll their forearm. In the second experiment, we tried to guide the forearm rolling for several target angles and the result was quite promising. The mean error is within 3 degrees. We also reported the participants’ reactions through our tactile feedback system. We will expand the system to guide the other parts of human body in the future.
第一章 緒論 -------------------------------------------------- 9 1.1 研究背景與動機 -------------------------------------------- 9 1.2 研究目的 ------------------------------------------------- 10 1.3 研究問題 ------------------------------------------------- 10
第二章 文獻探討 -----------------------------------------------11 2.1 觸覺回饋應用於運動學習 ------------------------------------- 11 2.2 觸覺回饋參數設計 ------------------------------------------ 14 2.3 觸覺錯覺相關研究 ------------------------------------------ 19
第三章 研究方法 ---------------------------------------------- 25 3.1 方向性振動觸覺回饋 ---------------------------------------- 25 3.1.1 裝置設計 ----------------------------------------------- 25 3.1.2 實驗方法及結果 ------------------------------------------ 26
3.2 人工外部肌肉 --------------------------------------------- 27 3.2.1 人工外部肌肉設計 ---------------------------------------- 28 3.2.2 實驗結果 ----------------------------------------------- 29
3.3 觸覺回饋穿戴式裝置設計 ------------------------------------ 30 3.3.1 第一版本裝置設計 ---------------------------------------- 30 3.3.2 第二版本裝置設計 ---------------------------------------- 32 3.3.3 第三版本裝置設計 ---------------------------------------- 34
第四章 系統評估 ---------------------------------------------- 36 4.1 第一階段測試計劃 ------------------------------------------ 36 4.1.1 受測者徵募及測試環境設置 --------------------------------- 36 4.1.2 實驗流程 ----------------------------------------------- 37 4.2 第一階段測試結果 ------------------------------------------ 38
4.2.1 正確率 ------------------------------------------------- 38
4.2.2 反應時間延遲 -------------------------------------------- 38
4.2.3 小結 --------------------------------------------------- 38 4.3 第二階段測試計劃 ------------------------------------------ 40 4.3.1 角度設定 ----------------------------------------------- 41 4.3.2 實驗流程 ----------------------------------------------- 41 4.4. 第二階段測試結果 ----------------------------------------- 42 4.4.1 受測者行為表現 ------------------------------------------ 42 4.4.2 時間與準確度 -------------------------------------------- 45 第五章 結論 -------------------------------------------------- 47 參考文獻 ---------------------------------------------------- 49
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