臺灣博碩士論文加值系統

本研究開發了一種影像偵測方法來定位手上的穴道，然後利用機械手臂移動到這些穴位來執行電子針灸。本系統由兩大部分組成，分別為穴位辨識系統，機械手臂的控制與電子針灸。穴位辨識系統使用CV函式庫進行影像辨識並進行手部特徵點搜尋然後定位手部穴位。機械手臂選用Dobot Magician，該機械手臂與穴位識別系統連接以實現穴位按摩。系統運作流程為：1.開啟機械手臂電源與該系統運作介面。2.請使用者將手平放平台指定位置進行自動穴位偵測。3.當偵測出手部穴位後選擇按壓穴位進行按壓與電擊。4.按壓結束，手臂回到起始位置。未來可以將此系統擴大成全身的穴道按壓，若能推廣眾人使用即可建立更大資料庫，透過結合人工智慧有系統分析出適用於各種狀況的按壓穴位保健方法，對未來高齡化的社會提供一個有效的保健系統。

In this study, we develop an image detection method to locate acupuncture points on the hand and then utilize a robotic arm to reach these points to perform an electric message. This system consists of two major parts, an acupuncture points identification system, robotic arm control, and pressing for the electric massage. For the acupuncture point recognition, we use the CV library to perform the image process and search for hand feature points and locate hand points. Commercial Dobot Magician is used for the mechanical arm, which is connected with the acupuncture points identification system to achieve acupuncture point massage. The system operation process is as follows: 1. Turn on the system power. 2. Users are requested to place their hands on the designated position of the platform for automatic acupuncture points detection. 3. After detecting the acupuncture points in the hand, users can choose the acupuncture points for the electric massage. 4. After the operation, the arm will return to the starting position. In the future, this system can be expanded to whole-body massage and combining artificial intelligence to achieve an effective health care system for the aging society.

摘要 ................................i
Abstract ................................ii
誌謝 ................................iii
目錄 ................................iv
表目錄 ................................v
圖目錄 ................................vi
1. 緒論 ................................1
1.1　研究動機與目的 ................................1
1.2　文獻回顧 ................................3
1.3　研究方法 ................................5
1.4　論文架構 ................................5
2. 手掌穴道定位影像系統 ................................6
2.1　系統開發工具 ................................6
2.2　影像手掌輪廓 ................................7
2.3　尋找手部穴道 ................................9
3. 機械手臂控制系統 ................................26
3.1　系統簡介 ................................26
3.2　DOBOT MAGICIAN ................................27
3.3　C#主程式介面 ................................29
3.4　計算機械手臂座標與畫面座標之間之比例尺 ................................31
3.5　修正機械手臂移動軌跡 ................................34
3.6　使用機械手臂內建IO腳位連接電子針灸電路 ................................41
4. 實驗結果與分析 ................................42
4.1　影像系統分析 ................................43
4.2　機械手臂系統分析 ................................46
5. 結論與未來展望 ................................48
Extended Abstract ................................51

[1]2002 年至2005 年世界衛生組織：傳統醫藥及替代醫藥全球策略。WHO:Traditional Medicine Team, Essential Drugs and Medicine Policies Department,Health and Pharmacentical Cluster
[2]Yearbook of Chinese Medicine and Pharmacy, 26 (3), 249-288, 2008.
[3]Wikipedia，”腧穴”，https://zh.wikipedia.org/wiki/%E8%85%A7%E7%A9%B4
[4]國家圖書館-學術知識服務網，https://ref.ncl.edu.tw/%E5%AD%B8%E7%A7%91%E5%B0%88%E5%AE%B6%E8%AB%AE%E8%A9%A2%E5%B9%B3%E5%8F%B0/%E7%9F%A5%E8%AD%98%E5%85%B1%E4%BA%AB%E5%9C%88-%E6%96%87%E7%AB%A0/%E6%AA%A2%E8%A6%96%E6%96%87%E7%AB%A0/983-
[5]作者:曾沛瑜，出處:康健雜誌第170期，https://www.commonhealth.com.tw/article/article.action?nid=66542
[6]郭順愛 著，鄧佩綺 譯，2017，全圖解經絡穴位對症手針，和平國際出版
[7]Rehg, J. M., & Kanade, T., "DigitEyes: Vision-Based Human Hand Tracking," no. CMU-CS-93-220, 1993.
[8]J. Letessier et al., "Visual tracking of bare fingers for interactive surfaces," In Proc. of the 17th ann. ACM symp. on UIST, Otc. 2004, pp. 119-122.
[9]黃國睿，2016，”手掌穴道辨識之擴增實境系統開發”，臺中科技大學多媒體設計系碩士班學位論文
[10]EmguCV首頁，http://www.emgu.com/wiki/index.php/Main_Page
[11]Wikipedia，”大津演算法”，https://zh.wikipedia.org/wiki/%E5%A4%A7%E6%B4%A5%E7%AE%97%E6%B3%95
[12]Canny, J. "A Computational Approach To Edge Detection". IEEE Trans. Pattern Analysis and Machine Intelligence. 1986, (8): 679–714.
[13]A. Dhawan and V. Honrao, "Implem [1]entation of Hand Detection based Techniques for HumanComputer Interaction," Int. J. Comput. Appl., vol. 72, no. 17, pp. 6-13, 2013.
[14]Dobot官網，https://cn.dobot.cc/
[15]陳明韋，2017，”基於智慧型相機與工業用械手臂之整合應用研究”，聖約翰科技大學資訊工程系碩士學位論文
[16]Ren C. Luo, Chien-Wei Hsu, and Shen-Yu Chen,” Electroencephalogram Signal Analysis as Basis for Effective Evaluation of Robotic Therapeutic Massage”,IEEE 2016 Dec.