- 學位論文
符合多主多從電動輪椅之頭控輸入裝置
M3S-Based Electrical Wheelchair with Head-Controlled Device
摘要
本研究的重點，是發展一套供重度脊髓損傷患者使用的輔具及其多主多從控制介面。在輔具的開發是以TMS320F243數位信號處理器為控制核心，設計頭控輸入裝置，使用者藉由頭部的簞呇鼽m來控制電動輪椅的移動方向。在多主多從匯流排控制介面是以數位信號處理器的控制區域網路模組來開發，頭控輸入裝置的控制信號透過此模組，可以得知控制信號是否傳送到匯流排上，而在輸出裝置也可經由控制區域網路模組來接收匯流排上傳送的資料，並產生接收確認訊息給輸入裝置，以準備接收下一個控制信號，而達到即時傳送即時監控的弁遄C另外，透過此模組的設定可實現隨插即用的弁遄F在安全的監控設計上，符合多主多從所提出的安全規範，利用啟動關鍵開關弁鄖荓珧囧t統的電源，及關閉關鍵開關弁鄖荌惜謒t統的電源供給。而在失能者開關弁鄋熙]計，是透過電源監控電路來偵測電壓的供應狀態，而連接或移除電源供應迴路，更進一步地提供給脊髓損傷患者在操作上的高安全性。此符合多主多從的輸入及輸出裝置的研發，將可提供給系統監控模組做裝置的身份判別，以及連接在匯流排上裝置工作的優先順序，實現多主多從的控制系統。 由本研究的臨床實驗，選擇8位脊髓損傷患者，進行系統的操作，而在實驗的方法選擇甲組與乙組來做比較。由研究結果顯示，系統架構在多主多從規範上，不僅能提供即時的訊息傳送，還增加安全上的監控。另外，本系統操控時間的長短是取決於使用者的熟練性，所以只要在操作前加以練習，就能夠符合使用者的操控需求。
並列摘要
The focus of this research is to develop the assistant implements and M3S (multiple master multiple slave) control interface for the severely spinal cord injury (SCI) patients. In development of assistant implements, using TMS320F243 digital signal processor to design the head control device, and users can control the direction of the wheelchair via swing position of head. The interface of M3S bus is developed by TMS320F243 CAN module, and head control device confirms whether control signal has transmitted to M3S bus. On the other hand, output device can receive control signal from M3S bus via CAN module. CAN module transmits the acknowledgement signal to input device after successfully receiving, and prepares to receive the next control signal. Besides, setting up this module can also accomplish Plug and Play function. In safe monitor, obeying safe monitoring standard of M3S protocol to employ the KEY switch function of input device to start or stop the system’s power supply for critical condition. In design of the DMS function, power supply status is detected by power supply monitor circuit, then, to connect or disconnect the loop of the power supply. Furthermore, provide the highest security for SCI patients. Users can development of M3S-Based input and output devices will provide for CCM (control & configuration module) to identify the implemental identity, to work according to the priority, and to achieve the control system of multiple master multiple slave. In clinical tests, choosing eight SCI patients to operate the M3S-Based electrical wheelchair, and dividing two groups to discuss the results. The results show that system is based on M3S protocol that not only provides real-time message transmission, but increases safe monitoring. Besides, operating time is according to the practiced operation. If users practice repeatedly before operating, the system control will fit in with the use’s requirement.