手推輪椅虛擬實境系統開發之研究

Development of a Virtual Reality Manual Wheelchair System

謝凱傑(Kai- Jie Sie)

指導教授 ： 黃俊仁

國立中央大學/工學院/機械工程學系/碩士(2008年)

摘要

對肢體障礙人士而言，手推輪椅是目前最經濟又實用的行動輔具之一，增進手推輪椅的操縱能力，可以讓患者早日恢復自主行動的能力，減輕家人與醫護人員的照顧壓力與社會成本，重新回到社會，重拾正常的一般生活。然而傳統的手推輪椅訓練，不但需要一個完善安全的場地，且必須時時刻刻小心肢障者移動過程中的安全性。本研究結合機電整合與虛擬實境技術，改裝真實手推輪椅上，開發一套虛擬實境手推輪椅系統，讓患者在安全環境中，就可以從事輪椅的操作學習。
本研究除系統開發外，並進行了系統檢測與操作表現評估實驗。系統的檢測結果顯示，編碼器的誤差在0.1% 以下，且在虛擬環境中的運動表現誤差非常微小。操作表現之評估是以正常人戴上頭戴式顯示器(Head Mounted Display, HMD)觀看虛擬環境，並實際操作手推輪椅於戶外環境中移動。受測者在虛擬環境中的花費時間較真實環境長，且多數的測試路線，其正相關性達到統計上之顯著水準。受測者於本實驗中使用頭戴式顯示器，其生理或心理上並無強烈的不適感。

關鍵字

手推輪椅 ； 頭戴式顯示器 ； 虛擬實境

並列摘要

Manual wheelchair is one of the most frugal and useful assistive devices for people with physical impairment. The advancement of manual wheelchair control ability could help the patients restore their mobility as soon as possible, and return their daily life. But traditional training of manual wheelchair need a site with flawless security and have to be careful the safety of the patients when they move everywhere. This study develop a virtual reality manual wheelchair system by using VB、3ds and EON software. It can match with platform、physiology monitor or other peripheral equipments in the future. Patients can do wheelchair training indoors safely and peacefully rather then move outdoors dangerously, and play in the virtual environments.
During the development of this system, the system calibration and operation of performance evaluation were be proceeded. The physiological or psychological feelings of participants were observed when they looked at the virtual scene with HMD and operated the manual wheelchair outdoors. The results showed that the error of encoder was below 0.1% and the error of motion performance in the virtual environment was acceptable. The performance of the subjects in the virtual environment was compared with that in the real environment. The time spent in the virtual environment was longer than that in the real environment, and their positive correlation was significant. This shows that the developed system can simulate the real environment. The subjects did not feel uncomfortable when they used HMD in this experiment.

並列關鍵字

Manual wheelchair ； Head-mounted display ； Virtual Reality

參考文獻

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