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研究生:王劭維
研究生(外文):WANG, SHAO-WEI
論文名稱:基於慣性感測器檢測手肘骨折復健活動角度之穿戴式裝置開發
論文名稱(外文):The Development of Wearable Device Based on Inertial Sensor for Detecting Range of Motion of Elbow Fracture Rehabilitation
指導教授:段裘慶段裘慶引用關係
指導教授(外文):TUAN, CHIU-CHING
口試委員:許見章李財福呂基亨段裘慶
口試委員(外文):HSU, CHIEN-CHANGLEE, TSAIR-FWULU, CHI-HENGTUAN, CHIU-CHING
口試日期:2021-07-21
學位類別:碩士
校院名稱:國立臺北科技大學
系所名稱:電子工程系
學門:工程學門
學類:電資工程學類
論文種類:學術論文
論文出版年:2021
畢業學年度:109
語文別:中文
論文頁數:76
中文關鍵詞:陀螺儀加速度計關節活動範圍手肘骨折復健運動卡爾曼濾波
外文關鍵詞:GyroscopeAccelerometerRange of MotionElbow FractureRehabilitation ExerciseKalman Filter
相關次數:
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  • 下載下載:2
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肘部骨折在兒童骨折中較為常見,其佔比為所有兒童骨折中15%,長時間固定可能造成手肘僵硬以及關節活動範圍降低,患者必須對復健做出相當大努力才可恢復。若是未確實執行復健療程,可能造成身體活動度受限,進而影響日常生活甚至是發生肌力減弱的問題。
患部的關節活動範圍(Range of Motion, ROM)是評估患部狀況的一項重要指標,臨床上一般使用通用測角儀量測患者ROM,惟量測時須經由醫護人員操作通用測角儀,除了測角儀本身誤差外,也易有人為因素而產生不確定性,在使用通用測角儀量測手肘ROM時,可能產生將近10度的誤差。
因此本研究提出一套以卡爾曼濾波結合陀螺儀及加速度計之手肘關節活動角度量測裝置,藉由慣性感測器偵測患者手肘ROM,以手機App呈現客觀角度數據給醫護人員及患者參考,並提供上傳資料至雲端儲存庫之功能,使醫護人員在遠距離即可查看患者復健情形,減少患者回診的負擔。
以本研究所提出之手肘角度感測裝置以及通用測角儀分別量測10位受測者手肘關節活動角度,並將量測結果進行皮爾森積差相關係數計算,求得數值為0.9,而通用測角儀量測結果之標準差為2.0度至2.6度,手肘角度感測裝置量測結果之標準差為0.5度至1.6度,可知本裝置之量測結果具有良好的精確性。

Elbow fractures are common among children's fractures, accounting for 15% of all children's fractures. Prolonged fixation may cause elbow stiffness and reduced joint range of motion, patients must make considerable efforts in rehabilitation exercises to recover. If patients do not perform rehabilitation exercises regularly, it may cause limitation of physical activity, affecting daily life and muscle strength.
The range of motion (ROM) is an essential index for evaluating the condition of the affected area. In clinical practice, medical personnel usually use universal goniometers to measure patients' ROM, except for the error of the goniometer, the incorrect operation is also prone to error. An error of nearly 10 degrees may occur when measuring the elbow ROM by a universal goniometer.
Therefore, this study proposed a set of elbow angle detecting device using Kalman filter combined with the gyroscope and the accelerometer. The inertial sensor detects the patient’s elbow ROM and provides objective angle data to medical personnel through the mobile phone App. It also provides the function of uploading data to the cloud storage, so that medical personnel can view the patient's rehabilitation progress from a long distance, reducing the burden of returning to the patient.
In this study, the elbow angle detecting device and the universal goniometer were used to measure the elbow’s ROM of 10 subjects. The Pearson correlation coefficient calculated from the measurement result was 0.9. The standard deviation in the universal goniometer’s measurement results is between 2.0 degrees and 2.6 degrees, and the standard deviation in the measurement results of the elbow angle detecting device is from 0.5 degrees to 1.6 degrees. It may be seen that the elbow angle detecting device has good correctness.

摘要 i
ABSTRACT iii
誌謝 v
目錄 vi
表目錄 ix
圖目錄 x
第一章 緒論 1
1.1研究動機 2
1.2研究目的 3
1.3論文架構 4
第二章 文獻探討 5
2.1骨折介紹 5
2.1.1常見手肘骨折 6
2.1.2手肘骨折術後復健運動 9
2.1.3測角儀及關節活動角度 10
2.2慣性感測器 12
2.2.1陀螺儀原理 12
2.2.2加速度計原理 14
2.2.3感測器訊號傳輸協定 15
2.3應用於手肘骨折復健之裝置相關文獻 16
2.3.1智慧型手機及通用測角儀量測膝關節的比較 16
2.3.2基於OpenCV影像處理的數位測角儀 17
2.3.3 Halo數位測角儀量測健康肩部關節活動度的可靠性及有效性 17
第三章 材料與方法 18
3.1手肘角度感測裝置 19
3.1.1微控制器 20
3.1.2慣性感測器 20
3.1.3裝置供電電源 22
3.1.4裝置間訊號傳輸設計 22
3.1.5 EADD裝置電路架構 23
3.1.6安裝部位 24
3.2慣性感測器訊號處理 24
3.2.1三維空間旋轉表示法 25
3.2.2陀螺儀訊號處理 28
3.2.3加速度訊號處理 29
3.2.4加權遞移平均濾波 30
3.2.5卡爾曼濾波 32
3.3行動裝置App應用程式架構 35
3.3.1行動裝置App應用程式使用者介面 37
3.3.2資料庫系統以及雲端儲存庫 39
第四章 結果與討論 42
4.1感測裝置角度驗證實驗 42
4.1.1靜態角度感測驗證實驗42
4.1.2模擬手臂量測實驗 45
4.2感測裝置量測實驗設計 48
4.2.1量測對象與條件 48
4.2.2實驗環境及流程 49
4.2.3實驗參數 52
4.3實驗結果與討論 53
4.3.1手肘關節活動角度探討 53
4.3.2量測結果標準差探討 57
第五章 結論與未來研究方向 59
5.1結論 59
5.2未來研究方向 60
參考文獻 61
附錄 66
A中英專有名詞對照表 66
B參數對照表 70
C軟韌體開發與操作介面 71
D論文原創性比對 74
E演算法 75
F作者簡歷 76

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