本研究目標是設計與實現一個以手勢控制機械設備的方法，以令控制者能夠以更為直覺的方式來控制設備。
研究中是以透過讀取手臂肌電圖(EMG，Electromyography)來取得因手掌不同姿態的改變而引發產生的手臂上的肌電流變化，並以其為基礎，透過編寫Android行動載具中的應用程式來對其做判斷與處置，並將其訊號透過低功耗藍芽裝置(BLE，Bluetooth Low Energy)傳輸至機械平台端的Arduino控制電路板，從而完成利用手勢變化對於三軸機械平台的控制。

The goal of this study is to design and achieve a approach for controlling the mechanical device by gestures, so that the user could control the device in an intuitive way. In this research, we use the arm EMG to obtain an arm-muscle current that was formed as a result of the gestures change. Base on the EMG, we design and program the android application, and then transmit some signals through the BLE to the arduino board which on the 3-axis mechanical platform. By using the gesture change in this way, we have achieved to control the three-axis mechanical platform.
 

目錄
誌謝 i
摘要 ii
目錄 iii
第 1 章 緒論 1
1.1 研究背景 1
1.2 文獻探討 1
第 2 章 系統原理 2
2.1 肌電圖原理 2
2.2 馬達控制原理 3
2.2.1 步進馬達 3
2.2.2 馬達驅動晶片[10] 5
2.3 低功耗藍芽(BLE，Bluetooth Low Energy)[11][12][13] 6
2.4 Arduino[13][14] 8
2.5 Myo armband[15][16] 10
第 3 章 硬體架構 12
3.1 三軸機械平台架構 12
3.1.1 控制電路 12
3.1.2 滑車架構 13
3.1.3 伺服馬達夾具 14
3.1.4 整體架構 15
3.2 肌電圖感測臂環設計[17] 15
3.2.1 MPU-9150簡介[19] 16
第 4 章 軟體架構 17
4.1 Arduino 17
4.1.1 Arduino初始設定 17
4.1.2 藍芽訊號接收 17
4.1.3 判斷訊號 18
4.1.4 步進控制 20
4.2 Android 21
4.2.1 偵測手勢 21
4.2.2 手勢判斷 22
4.2.3 轉動基準設定 23
4.2.4 連接Myo 23
4.2.5 連接Arduino 23
4.2.6 App介面 24
第 5 章 實驗結果與問題討論 25
5.1 平台架構 25
5.2 Arduino對Myo臂環的連接 25
5.3 程式撰寫 26
5.4 實驗結果與問題討論 26
第 6 章 結論與未來展望 27
參考文獻 28
附錄一：Arduino原始碼 29
附錄二：Android Mainactivity原始碼 33
附錄三：Android Layout原始碼 42

[1] M.B.I. Raez, author M.S. Hussain, and F. Mohd-Yasin “Techniques of EMG signal analysis: detection, processing, classification and applications”,2006;
[2] 葉明杰, ”手臂運動之肌電訊號特性分析與應用”, 2005；
[3] 陳建維, “以肌電訊號控制機器手臂之設計”, 2016
[4] 周道, “基於EMG訊號之上肢穿戴式外骨骼機器人控制系統開發”. 2015
[5] https://zh.wikipedia.org/wiki/步進馬達
[6] http://designer.mech.yzu.edu.tw/articlesystem/article/compressedfile/(2000-05-05)%20步進馬達簡介.aspx?ArchID=1175, 王崇飛 (2000),元智大學 步進馬達簡介。
[7] http://ming-shian.blogspot.com/2013/05/blog-post_8.html, 步進馬達的介紹
[8] http://shioulo.16mb.com/node/495, 步進馬達激磁方式
[9] http://ming-shian.blogspot.com/2013/11/ac-vs.html , 伺服馬達vs步進馬達
[10] https://www.sparkfun.com/datasheets/Robotics/L298_H_Bridge.pdf, L298 Datasheet。
[11] https://www.bluetooth.org/docman/handlers/downloaddoc.ashx?doc_id=229737, 藍芽4.0核心規格。
[12] https://www.bluetooth.com/bluetooth-technology/le-p2p, Bluetooth LE: Point-to-Point
[13] https://www.bluetooth.com/bluetooth-technology/radio-versions, radio versions
[14] https://www.arduino.cc/en/Guide/Introduction, What is Arduino?
[15] https://www.myo.com, Myo官方網站
[16] https://developer.thalmic.com, Myo Developer
[17] https://learn.adafruit.com/myo-armband-teardown/inside-myo, Inside Myo
[18] http://developerblog.myo.com/myo-bluetooth-spec-released/, Myo Bluetooth Protocol Released
[19] https://www.invensense.com/products/motion-tracking/9-axis/mpu-9150/, MPU-9150產品介紹頁
[20] http://istanbulonkoloji.com/what-is-emg-when-is-it-done, MD Zafer ÖZYURT “What is EMG? When is it done?”
[21] https://www.youtube.com/watch?v=oWu9TFJjHaM, Myo - Gesture Control from @thalmic Labs Concept Video
[22] https://www.youtube.com/watch?v=LSuzMxQDmzg, Introducing the world's first Myo-controlled prosthetic arm