An FPGA-Base Interaction System for Tele- Rehabilitation of the Upper Extremity

由於全球節約醫療費用的趨勢下，並考慮病患每日至醫院接受治療有其一定的難度。因此，本研究希望發展出一套彩色物件追蹤系統來幫助患者在家便可方便地進行復健醫療。研究提出彩色的肢體動作追蹤演算法，在前方的螢幕上看見自己的影像，利用不同顏色的標籤物，附著在關節上，同時利用攝影機擷取動作的畫面，進而辨識肢體動作。此套以居家復健應用為主的影像式動作追蹤系統必須同時擁有足夠的實用性、合理的價格、面積小以及即時處理的特性。本系統發展主要以Altera Cyclone II FPGA為核心控制器，發展一個影像處理系統的硬體部分，利用低成本CMOS Sensor 做影像擷取，再將Bayer pattern圖素轉換RGB彩色像素格式，影像的擷取處理及傳送需要龐大的運算量，為了實現即時影像資料儲存，則採用不斷寫入FIFO來儲存入SDRAM控制機制，再將影像資料讀出FIFO的硬體模組，再用彩色目標物分離演算法擷取特徵物，加上所設計的虛擬動畫配合彩色影像動態物件追蹤達到虛擬實境的效果。 實驗過程中，手臂貼的標籤會隨著觸及遊戲中墜落的圓球而計分，所進行的影像回饋遊戲包含圓球自由墜落與隨機飄動的模式，可簡單的分辨出不同程度的受試者在手臂伸展能力上的差異，並統計出本系統在一般正常受測者量測的數據範圍，以利於日後臨床實驗評估的參考依據。FPGA所開發的虛擬實境之復健系統，發展簡單原理的色彩動態物件追蹤演算法，以達到最節約gates使用量實現，彈性的數位技術設計功能朝著最能符合上肢復健功能的需求，因為FPGA是純硬體電路的技術，在系統體積簡化下，不僅節約電力的消耗，使系統更適合於居家復健開發上的實現。Because of economizing on the hospitalization cost in the world, we consider that it is difficult for the patient to receive treatment to the hospital every day. We have developed a color-based motion tracking system to be applied for home-based rehabilitation.n this study a color-based tracking algorithm for real time capturing human motion is proposed. The image is displayed in the front of the screen. Several different color belts are wrapped around the joints of upper limb and their motions are tracked by web video camera. This color-based motion tracking system must have enough practicability, reasonable price, small area and real-time processing for most users. The core of the system is developed an image processing hardware by using Altera Cyclone II FPGA as a core controller. The low cost CMOS Sensor is used to capture image and to transform Bayer pattern into the original RGB image. The image acquisition and transmission need a powerful computing capability. In order to implement it in real-time, these image data in storage module are constantly written to FIFO of the control module of SDRAM and read out from the FIFO of SDRAM. The algorithms can separate the colored goal to reach motion tracking. The integration of virtual motion pictures and the color based motion tracking are used for the virtual reality.n this experiment, the label that the arm is stuck will score as touch the light ball falling in the game, The images carried on feedback the game, include the light ball fall freely and fall with the way of waving at random. Experimenters in various degree spread difference arm functions. This system counts the data range of these experimenters. In order to benefit the reference basis that the clinical experiment will be assessed in the future.ehabilitation system that is in the virtual reality is realized with FPGA to develop. The color-based motion algorithm is developed by a simple principle of motion tracking. Realize that saves the consumption of gates most. The elastic digit technical design function, it is the goal to accord with the rehabilitation of upper extremities. Because of FPGA is a technological pure circuit of hardware, under the circumstances that the volume of the system is simplified, not merely economizes the consumption of the electricity. We have made the system suited to be applied to home-based rehabilitation.口試委員會審定書 I謝 II文摘要 III文摘要 IV一章 緒論 1-1研究背景 1 1-1-1存在的問題 1 1-1-2為什麼使用FPGA 2-2研究動機 4 -3研究目的 5-4論文架構 7二章 文獻回顧與相關研究 9-1 空間定位儀器 9-2 虛擬實境相關研究 10-2-1 Mail-delivery system 12-2-2 Vividgroup’s Gesture Xtreme VR system 13-2-3 CAREN平台 15-2-4 差異性比較 16-3五十肩復健相關研究 17-3-1虛擬實境的五十肩復健治療 17-3-2五十肩Manipulation under Anesthesia 18-3-3利用三度空間技術追蹤五十肩動作 18三章 系統架構與演算法 21-1 介紹 21-2 攝影機 22 -2-1 CMOS SENSOR架構 24-2-2 CMOS SENSOR影像陣列 27-3 Cyclone II FPGA規劃 29-3-1 Clock輸入 29-3-2 使用VGA 30-4 FPGA DESIGN 32-4-1 FPGA簡介 32-4-2 影像處理模組 33-4-3 CMOS Sensor影像擷取模組 34-4-4 影像轉換壓縮模組 35-4-5 Frame Buffer控制模組 37-4-6 VGA控制模組 39-5 Image Processing Algorithm Module 40-5-1 演算法說明 40-5-2 分離彩色目標物 42-5-3 二直化處理 43-5-4 物件追蹤概念 44四章 系統測試與討論 47-1測試方法 47-1-1不同背景下進行追蹤 48-2 遊戲介面之設計 53-2-1遊戲操作方式 55-3討論 56五章 臨床實驗 59-1實驗目的 59-2實驗步驟 60-3實驗量測規格 62-4正常者上肢碰觸實驗 64-4-1使用時間 67-5五十肩上肢碰觸實驗 69-6討論 71六章 結論與未來發展建議 75-1 結論 75-2未來發展建議 77-2-1系統硬體效能 77-2-2克服背景環境限制的演算法 77-2-3臨床訓練的貢獻 77-2-4動畫上的設計 78考文獻 8