臺灣博碩士論文加值系統

虛擬實境(VR)已被證明能夠讓使用者體驗沉浸式虛擬環境並與電腦進行互動。但大多數 VR 應用程式只擁有立體視覺感知，然而，僅靠立體視覺感知還不足以讓使用者完全沉浸在 VR 環境中。當使用 VR 應用時，觸覺回饋技術可以提供更好的沉浸感和互動性，並且可以擴展使用者的感知範圍。
為了在 VR 應用中提供觸覺反饋，大多數研究人員開發了機械致動器和連桿裝置，設備產生力會饋或振動施加到使用者的手或身體上。這些設備必須穿戴麻煩的回饋裝置，這會產生負面影響會降低沉浸在 VR 世界中的感覺。
為了克服這個缺點，本研究提出了另一種可能的觸覺回饋系統—電觸覺回饋系統。本研究使用低頻電刺激系統應用於材質行為模擬，在傳統上的低頻電刺激系統主要輸出方波(pulse)並搭配振幅、頻率、波寬等參數組合進行刺激。本研究將比較兩種系統對材質行為觸覺模擬的真實度，一種為傳統的低頻脈波寬度調變(PWM)電刺激系統，另一種為以類比可變弦波刺激，比較兩種系統何種方法對於材質觸覺模擬能提供較佳的觸覺回饋與真實度，並提出一種結構簡單，價格低廉的觸覺回饋的可能性。

Virtual Reality (VR) has proven to enable users to experience immersive virtual environments and interact with computers. Most VR applications utilize stereo visual perception however only stereo visual perception is not enough to fully immerse users in VR environment. However, Haptic feedback technology when applied to VR applications can offer improved immersion and interactivity and can extend the range of sensations experienced by the user.

In order to provide haptic feedback in VR applications, most researchers based on construct cumbersome mechanical actuators and linkages for applying force or vibrations feedback to the user’s real hand or body. However, these devices must be worn with troublesome feedback devices which can have a negative impact that reduces the feeling of being immersed in the VR world.

In order to overcome this drawback, electrical haptic feedback systems are proposed in this study. In this study, the low-frequency electrical stimulation system is applied to simulate the material behavior. In the traditional low-frequency electrical stimulation system, the main output is electric pulse and is combined with amplitude, frequency and wave width to stimulate. This study will compare the realism of two
systems haptic simulations of material behavior, one is the traditional low-frequency Pulse Width Modulation(PWM) electrical stimulation system, and the other is analogous sine wave stimulation.Therefore, compare these two systems with performance of material haptic feedback stimulation and try to propose a possibility of simple and inexpensive haptic feedback.

摘要.................................................................................................................................I
ABSTRACT .................................................................................................................. II
誌謝.............................................................................................................................. III
目錄.............................................................................................................................. IV
圖目錄........................................................................................................................ VII
表目錄........................................................................................................................... X
第一章 緒論.................................................................................................................. 1
1.1 文獻回顧 ............................................................................................................. 1
1.2 研究動機與目的 ................................................................................................. 6
1.3 研究背景 ............................................................................................................. 7
1.4 感覺記憶的歷程 ................................................................................................. 8
1.5 人體皮膚感知...................................................................................................... 8
1.5.1 皮膚感覺受器............................................................................................. 10
1.5.2 皮膚感覺受器形式分類............................................................................. 11
1.5.3 皮膚感覺閾值............................................................................................. 13
1.5.4 皮膚紋理感知............................................................................................. 14
1.5.5 皮膚感覺受器的刺激模式......................................................................... 14
1.5.6 感覺受器轉換成神經訊號的機制............................................................. 16
1.6 論文架構............................................................................................................ 18
第二章 研究架構........................................................................................................ 19
2.1 經皮電刺激簡介 ............................................................................................... 19
2.1.1 電刺激概念................................................................................................ 20
2.1.2 電刺激型式................................................................................................ 20
2.1.3 電刺激的生理效應.................................................................................... 21
2.1.3.1 電刺激的興奮性.................................................................................. 21
2.1.3.2 適應性................................................................................................. 21
2.1.4 神經肌肉的電刺激原理............................................................................. 22
2.1.4.1 細胞膜電位的變化............................................................................. 22
2.1.4.2 神經傳導的動作電位...................................................................... 23
2.2 低頻電刺激系統原理 ....................................................................................... 26
2.2.1 電源供應系統............................................................................................ 26
2.2.2 振盪器電路(Oscillator Circuit) ................................................................. 27
2.2.3 調節器電路(Regulator circuit) .................................................................. 27
2.2.4 輸出放大電路(Output Amplifier) ............................................................. 27
2.2.5 電極(Electrodes) ........................................................................................ 28
2.2.6 低頻電刺激的電生理效應........................................................................ 29
第三章 低頻電刺激系統設計.................................................................................... 30
3.1 系統架構 ........................................................................................................... 30
3.2 直流升壓脈波寬度調變(PWM)刺激法電路設計 ........................................... 30
3.2.1 電源供應系統............................................................................................ 31
3.2.2 MSP430G2553 微控制器 .......................................................................... 31
3.2.3 升壓電路[46] ............................................................................................. 33
3.2.4 輸出 PWM 刺激電路 ................................................................................ 34
3.2.5 人機介面及通訊模組................................................................................ 34
3.3 可變電壓升壓刺激法電路設計 ....................................................................... 37
3.3.1 電源供應系統............................................................................................ 38
3.3.2 Arduino Nano .............................................................................................. 40
3.3.3 數位類比轉換器........................................................................................ 41
3.3.3.1 輸出電壓............................................................................................. 42
3.3.3.3 電阻串聯結構..................................................................................... 42
3.3.3.3 輸出放大器......................................................................................... 43
3.3.4 功率放大器................................................................................................ 43
3.3.5 人機介面及可變電壓波形調變................................................................ 44
3.3.5.1 人機介面............................................................................................. 44
3.3.5.2 可變電壓波形調變............................................................................. 46
3.3.5.3 I2C 通訊協定....................................................................................... 46
第四章 實驗結果........................................................................................................ 48
4.1 材質建模 ........................................................................................................... 48
4.2 觸覺電壓測試 ................................................................................................... 51
4.2.1 直流升壓脈波寬度調變(PWM)刺激法 ................................................... 51
4.2.2 可變電壓升壓刺激法................................................................................ 61
4.3 田口實驗 ........................................................................................................... 68
4.3.1 直流升壓脈波寬度調變(PWM)刺激法田口實驗 ................................... 68
4.3.1.1 慢速直流升壓脈波寬度調變(PWM)刺激法田口實驗 .................... 68
4.3.2.1 慢速類比升壓刺激法田口實驗......................................................... 89
4.3.2.1 快速類比升壓刺激法田口實驗......................................................... 98
4.4 觸覺材質鑑別實驗 ......................................................................................... 107
4.4.1 直流升壓脈波寬度調變(WPM)刺激法觸覺材質鑑別實驗 ............... 107
4.4.1.1 慢速直流升壓脈波寬度調變(PWM)刺激法材質鑑別實驗 ........ 108
4.4.1.2 快速直流升壓脈波寬度調(PWM)變刺激法材質鑑別實驗 ........ 109
4.4.2 可變電壓升壓刺激法觸覺鑑別實驗 ................................................... 111
4.4.2.1 慢速可變電壓升壓刺激法材質鑑別實驗 ..................................... 111
4.4.2.2 快速可變電壓升壓刺激法材質鑑別實驗 ..................................... 113
第五章 結論及未來展望.......................................................................................... 116
5.1 結論 ................................................................................................................. 116
5.2 未來展望 ......................................................................................................... 118
第六章 參考文獻...................................................................................................... 119

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