手指運動之最佳化軌跡電腦模擬

The Computer Simulation of Finger Rehabilitation

邱靖華(Ching-Hua Chiu) ； 陳進發(Chin-Fa Chen) ； 楊鎮嘉(Hen-Chia Yang)

《興大體育學刊》 9期 (2008/12) Pp. 1-12

https://doi.org/10.29897/DNSJ.200812.0001

摘要

本研究主要目的在於藉由電腦動畫模擬的方式，來證明邱靖華(2006)設計之手指最佳化軌跡演算法的可行性，並探討電腦動畫模擬是否可應用在手指復健之視覺回饋教學上。本文是以十六肢段手指最佳化軌跡演算法為基礎（邱靖華，2006），採用Lagrange-Euler 方程，規劃成二十七個自由度運動方程，以最小化加速原理控制手指運動動作之軌跡，再以C(上标 ++)電腦程式語言撰寫成電腦軟體來進行驗證。驗證結果顯示，在限定的時間及手指關節活動的邊界條件範圍內，本電腦動畫可呈現手指伸與屈之最佳化運動軌跡，此電腦動畫亦可做為手指復健之視覺回饋教學範例，及機器手臂之手指復健運動軌跡控制。

關鍵字

演算法 ； Lagrange-Euler ； 方程

並列摘要

The study aims to prove the practicability of the algorithm for the optimal trajectory of fingers through computer simulated animation. Based on a 16-segment finger model (Chiu, 2006), this study adopted Lagrange-Euler equations of motion to design this dynamic system with 27 degrees of freedom. Next, the method of minimized acceleration was used to control the trajectory for finger movements. Then, the software edited with C(superscript ++) language was used to prove it. The results showed that under the established boundary conditions for motions of finger joints and limited time, the animation simulated in this study was capable of calculating the optimal motion trajectory for finger bending and stretching. Therefore, this algorithm, presenting vision feedbacks for finger movements, could be applied to the teaching of finger rehabilitation as well as controlling the optimal trajectory for rehabilitation motions of robotic fingers.

並列關鍵字

algorithm ； Lagrange-Euler equations

參考文獻

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