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完整後設資料紀錄
DC 欄位 | 值 | 語言 |
---|---|---|
dc.contributor.advisor | 劉正良 | |
dc.contributor.author | Chien-Jen Liao | en |
dc.contributor.author | 廖建仁 | zh_TW |
dc.date.accessioned | 2021-06-13T08:11:05Z | - |
dc.date.available | 2005-07-26 | |
dc.date.copyright | 2005-07-26 | |
dc.date.issued | 2005 | |
dc.date.submitted | 2005-07-20 | |
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S., and Zilvold, G., 'Use of the NESS Handmaster to restore handfunction in tetraplegia: clinical experiences in ten patients,' Internation Medical Society of Paraplegia, vol. 38, pp. 244~249, 2000. [8] Popovic, M. R., Popovic, D. B., and Keller, T., 'Neuroprostheses for Grasping,' Neurological Research, pp. 8~10, 2002. [9] Kilgore, K. L. and Peckham, P. H., 'An implanted upper-extremity neuroprostheses,' The Journal of Bone and Joint Surgery, vol. 79-A, pp. 533~541, 1997. [10] Esnouf, J., Taylor, P., and Hobby, J., 'Clinical experience of the neurocontrol Freehand neuro prosthesis for tetraplegic hand function,' presented at 5th IPBM Clinical FES Meeting, Salisbury, 1997. [11] Donna, R. and Julie, G., Neurocontrol Freehand System Clinician Manual. U. S. A., 2000. [12] Esnouf, J., Taylor, P., and Hobby, J., 'Clinical experience of the neurocontrol Freehand system,' presented at 6th IPEM Clinical FES Meeting, University of Surrey, 2000. [13] Prochazka, A., Gauthier, M., Wieler, M., and Kanwell, Z., 'The Bionic Glove: An electrical stimulator garment that provides controlled grasp and hand opening in quadriplegia,' Archives of Physical Medicine and Rehabilitation, vol. 78, pp. 1~7, 1997. [14] Haugland, M. K. and Hoffer, J. A., 'Slip information provided by nerve cuff signals: application in closed-loop control of functional electrical stimulation,' IEEE TRANSACTIONS ON REHABILITATION ENGINEERING, vol. 2, pp. 29~36, 1994. [15] Haugland, M., Lickel, A., Haase, J., and Sinkjar, T., 'Control of FES thumb force using slip information obtained from the cutaneous electroneurogram in quadriplegic man,' IEEE Transactions on Rehabilitation Engineering, vol. 7, pp. 215~227, 1999. [16] Haugland, M. and Lickel, A., 'Improved method for use of natural sensory feedback in control of grasp force for stimulated hand muscles,' 20th Annual Conference of the IEEE Engineering in Medicine and Biology Society, vol. 5, pp. 2310~2312, 1998. [17] Lickel, A., Haugland, M., and Sinkjar, T., 'Comparison of catch responses between a tetraplegic patient using an FES system, and healthy control subject,' presented at 18th Annual Conference of the IEEE Engineering in Medicine and Biology Society, Amsterdam, 1996. [18] Su, R. and Kermiche, N., 'A learning scheme for open-loop and closed-loop control,' IEEE International Symposium, vol. 1.1, pp. 523~528, 1989. [19] Tura, Andrea. and Lamberti, Claudio., 'Experimental development of a sensory control system for an upper limb myoelectric prosthesis with cosmetic covering,' Journal of Rehabilitation Research & Development, vol. 35, pp. 14, 2001. [20] Michael, J. W., 'Upper limb powered components and controls: current concepts,' Clinical Prosthetics and Orthotics, vol. 10, pp. 66~77, 1986. [21] 陳俊彥,使用生醫訊號做為多自由度電動義肢手控制器之建構,國立臺灣大學機械工程學研究所,台北市,1998。 [22] 江俊穎,DSP為基之多自由度義肢手控制器,國立臺灣大學機械工程學研究所,台北市,1999。 [23] 蔡柏修,多手指人工義手系統整合與發展,國立臺灣大學機械工程學研究所,台北市,2000。 [24] Carrozza, M. C., Massa, B., Micera, S., Zecca, M., and Dario, P., 'Wearable artificial hand for prosthetics and humanoid robotics applications,' presented at IEEE-RAS International Conference on Humanoid Robots HUMANOIDS 2001, Waseda University International Conference Center, Tokyo, Japan, 2001. [25] Robert, D. H. and Mark, R. C., 'Sensing skin acceleration for slip and texture perception,' presented at IEEE International Conference, 1989. [26] Holweg, E. G. M., Hoeve, H., Jongkind, W., Melchiorri, C., and Bonivento, C., 'Slip detection by tactile sensors: algorithms and experimental results,' IEEE International Conference, vol. 1.4, pp. 3234~3239, 1996. [27] Yamada, Yoji., Morita, Hiroyuki., and Umetani, Yoji., 'Vibrotactile sensor generating impulsive signals for distinguishing only slipping state,' IEEE/RSJ International Conference, vol. 1.2, pp. 844~850, 1999. [28] Yamada, Daisuke., Maeno, Takashi., and Yamada, Yoji., 'Artificial finger skin having ridges and distributed tactile sensors used for grasp force control,' IEEE/RSJ International Conference, vol. 1.2, pp. 686~691, 2001. [29] 蔡容之,手部關節角度與表面式電刺激參數關聯之研究,國立台灣大學機械工程學研究所,台北市,2002。 [30] Naaman, S. C., Stein, R. B., and Thomas, C., 'Minimizing discomfort with surface neuromuscular stimulation,' Neurorehabilitation and Neural Repair, vol. 14, pp. 223~228, 2000. | |
dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/36686 | - |
dc.description.abstract | 藉由功能性電刺激進行抓握物體時,握力不足可能造成握持物滑動之現象。現今雖有滾輪式滑動感測器運用於功能性電刺激上,利用回饋機制以求達到握物止滑的目的,但由於運用於功能性電刺激上的滾輪式感測器解析度較低,所以對於滑動現象之偵測較不靈敏,造成系統的反應速度較慢。故本研究將一光學滑動感測器應用於功能性電刺激系統上,以改進滾輪式滑動感測器系統解析度較低及反應速度較慢的缺點,並解決握物滑動之問題。
本研究之光學滑動感測器由一發光二極體和影像感測器所組成。利用發光二極體當作光源,藉由影像感測器偵測物體表面特徵之移動狀況,判斷出握物滑動的情形,而滑動訊號由訊號擷取卡收集,並由LabVIEW程式做處理。當滑動發生時,系統可以有更快速及更精確的滑動訊號回饋,藉由功能性電刺激即時增大抓握力量,達到握物止滑之目的。 | zh_TW |
dc.description.abstract | The shortage of grasping force while using functional electrical stimulation to grasp objects may cause object to slip. Though rolling sensor is used as feedback in the closed-loop system, the low resolution of it makes the system can’t detect the precise motion. In this work, an optical slipping sensor is used to replace the rolling sensor to improve the problem.
The slipping sensor is developed by an optical mouse sensor which can detect the precise motion between the palm of the hand and grasping object. Sensing signal is then collected by DAQ card and processed through LabVIEW program. The results show that the performance of the system is improved. | en |
dc.description.provenance | Made available in DSpace on 2021-06-13T08:11:05Z (GMT). No. of bitstreams: 1 ntu-94-R92522632-1.pdf: 10159710 bytes, checksum: d24f528e8c071c3a46c05fafd37b0f50 (MD5) Previous issue date: 2005 | en |
dc.description.tableofcontents | 致謝.............................................一
中文摘要.........................................二 英文摘要.........................................三 目錄.............................................四 圖目錄...........................................六 表目錄...........................................八 第一章 序論......................................1 1.1 研究背景...................................1 1.2 研究動機...................................2 1.3 研究目的...................................3 1.4 論文架構...................................4 第二章 文獻回顧..................................6 2.1 電刺激發展.................................6 2.1.1 已發展的開迴路手部FES系統...............8 2.1.2 已發展的閉迴路手部FES系統..............14 2.2 滑動感測器................................18 2.3 感測器應用於功能性電刺激上................24 第三章 研究方法.................................26 3.1 研究流程..................................26 3.2 控制架構..................................29 3.3 功能性動作................................30 第四章 實驗設備及測試...........................31 4.1 感測器....................................31 4.1.1 CMOS感測器簡介.........................32 4.1.2 CMOS感測器作用原理.....................32 4.2 影像感測器................................33 4.2.1 感測器之選用...........................33 4.2.2 感測器性能測試.........................33 4.2.3 感測器安裝.............................38 4.3 電刺激器..................................39 4.3.1 NM III電刺激器.........................40 4.3.2 頻道切換器.............................44 4.4 LabVIEW程式...............................46 4.4.1 擷取滑動訊號程式.......................47 4.4.2 滑動訊號分析程式.......................49 4.4.3 增益值判斷程式.........................53 4.4.4 閉迴路控制電刺激系統程式...............56 4.5 滑動感測器測試............................59 4.6 閉迴路測試................................63 4.6.1 閉迴路系統程式測試.....................63 4.6.2 閉迴路電刺激系統測試...................64 第五章 實驗及結果...............................72 5.1 實驗準備..................................72 5.1.1 實驗儀器架設方法.......................72 5.1.2 實驗環境準備方法.......................74 5.1.3 受試對象準備步驟.......................74 5.2 實驗儀器軟硬體參數設定及測試..............75 5.2.1 硬體參數設定...........................75 5.2.2 軟體參數設定...........................77 5.2.3 實驗儀器測試...........................78 5.3 實驗程序..................................80 5.3.1 滑動速度—電刺激增益值實驗.............80 5.3.2 尋找電刺激點位置.......................81 5.3.3 握杯並離開桌面實驗.....................83 5.3.4 加重握物滑動感測實驗...................85 5.4 實驗結果..................................87 5.4.1 滑動速度—電刺激增益值實驗...............87 5.4.2 握杯並離開桌面實驗.....................88 5.4.3 加重握物滑動感測實驗...................90 5.4.4 小結...................................96 第六章 結論與建議...............................97 6.1 結論......................................97 6.2 建議......................................97 參考文獻.........................................99 附錄一 ADNS-2051 Optical Mouse Sensor..........102 附錄二 訊號擷取卡規格..........................106 附錄三 LabVIEW程式.............................109 | |
dc.language.iso | zh-TW | |
dc.title | 光學滑動感測器運用於功能性電刺激之研究 | zh_TW |
dc.title | Study of Optical Slipping Sensor for Grasping in Functional Electrical Stimulation | en |
dc.type | Thesis | |
dc.date.schoolyear | 93-2 | |
dc.description.degree | 碩士 | |
dc.contributor.oralexamcommittee | 陳適卿,游忠煌,賴建宏,王富正 | |
dc.subject.keyword | 光學滑動感測器,功能性電刺激,抓握,閉迴路控制, | zh_TW |
dc.subject.keyword | Optical slipping sensor,Functional electrical stimulation,Grasping,Closed-loop control, | en |
dc.relation.page | 110 | |
dc.rights.note | 有償授權 | |
dc.date.accepted | 2005-07-21 | |
dc.contributor.author-college | 工學院 | zh_TW |
dc.contributor.author-dept | 機械工程學研究所 | zh_TW |
顯示於系所單位: | 機械工程學系 |
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