摘要
本論文研究的主旨是開發一套智慧背部按摩機器人輔助系統，該輔助系統應用機械 手臂控制技術以及 AI 影像穴位定位技術，最終目的是可以達成應用機械手臂與 AI 技術 來進行自動輔助按摩之應用。除此之外，本論文通過應用中醫經絡相關的學理於人體背 部上，並以相關理論基礎來設計開發具有舒緩壓力效果的人體背部按摩的機械手臂的運 動控制方法，因此該系統做為智慧照護輔具，將能夠幫助不便於行的人們或是銀髮族們 舒解或是減輕背部的壓力和疲勞，減少高齡人口所需的照顧人力需求。該輔助系統的應 用方向與創新性具有高度的潛力與價值。該輔助系統會先設計一種力回饋設備互動 操控系統來進行同步化操作按摩機械手臂的功能，然後操作者可以此方式來記錄機械手 臂所需要的按摩手勢並可以重現於相對應的經絡穴位上，或是根據使用者的選擇，將會 使用深度攝影機來拍攝被按摩者的背部影像，然後將影像經由 OpenPose 來辨識被按摩 者的背部人體關鍵點位置來作為人體背部特徵，接下來將特徵點結合中醫背部經絡學理 來完成背部經絡穴位之定位，之後也可以再結合所記錄的機械手臂的按摩手勢，讓該輔助 系統可以實現全自動智慧按摩之功能，並可以輔助背部經絡照護(meridian care)相關工作。 本研究最後將以實作該輔助系統以實證其有效性，與本研究提供的照護機器人輔助系統 之智慧化服務應用。
並列摘要
The main purpose of this paper is to develop a set of intelligent back massage robot assistance system, which applies robotic arm control technology and AI image based acupoint positioning technology. In addition, this paper applies the theory of Traditional Chinese Medicine to the back meridians of the human body, and designs and develops the motion control method of the robotic arm to accomplish the back massage with the effect of relieving pressure based on the basis of the relevant theoretical basis. Therefore, the system is used as a smart care system. Assistive devices will be able to help people who are inconvenient or elder to relieve or reduce back pressure and fatigue, and reduce the need for caring human resources for the elderly population. The application direction and innovation of the auxiliary system have high potential and value. The auxiliary system includes a force feedback device interactive control system which will be designed to operate the robotic arm synchronously, and then the operator can record the massage gestures applied on the robotic arm and reproduce the corresponding gestures to massage meridians. Or according to the user’s choice, a depth camera will be used to capture the back image of the person being massaged, and then the image will be used to identify the keypoints on the back of the person being massaged through OpenPose. The keypoints are combined with the theory of the back meridian of Traditional Chinese Medicine to complete the positioning of the back meridian acupoints, and then combined with the recorded massage gestures of the robotic arm, so that the auxiliary system can realize the function of automatic intelligent massage, and can assist the back meridian care related work. Finally, this research will implement the assistance system to demonstrate its effectiveness, and the intelligent service application of the assistive nursing robot system provided by this research.