本論文開發一套可編程之觸覺回饋模組系統，此系統主要有兩個部分，
負責接收指令並輸出脈衝寬度調變訊號的主機、以及接收訊號並運作的觸覺回饋模組。本系統的設計理念為藉由各式各樣的觸覺回饋模組，來增強各類型人機介面的觸覺回饋體驗，並創造出一套，不管是使用者是一般使用者或是開發人員、有沒有相關硬體背景，都可以輕鬆使用、快速部署之模組化系統。一般觸覺回饋裝置的開發，考慮到像是電路圖設計、電源供應、大電流裝置應對與韌體控制部分等，都需要相關硬體知識的開發人員才能實現的部分，在本系統中都簡化成只要將所需使用的模組接入已設計好的模組接口，再從使用者想要與本系統搭配的各類型裝置，利用藍牙傳送控制模組的指令，即可操控多種類型的觸覺回饋裝置，讓使用者自己的裝置能擁有更進一步的觸覺回饋。

This thesis develops a programmable haptic feedback module system, which
consists of two parts, the host for receiving the instruction and outputting the pulse width modulation signal, and the haptic feedback module that receives the signal and operates. The design concept of this system is to enhance the haptic feedback experience of various types of human-machine interface by a variety of haptic feedback modules, and to create a modular system, whether the user is the general user or developer, no relevant hardware background, can be easily used, the rapid deployment of the modular system. The development of the general haptic feedback device, such as circuit diagram design, power supply, high current device response and firmware control, etc., need to be related to the hardware knowledge of the developers to achieve, in this system, are simplified as long as connect what modules user want to use to this system, and then from the user want to use the system with the various types of devices, and then use the Bluetooth transmission control module instructions, user can control a variety of types of haptic feedback device , So that the user's own device can have a further haptic feedback.

目錄
致謝................................................................................................ I
目錄...............................................................................................IV
圖目錄.......................................................................................... VII
表目錄........................................................................................... X
第一章 緒論......................................................................................1
1.1 前言............................................................................................1
1.2 研究動機與目的.......................................................................... 1

第二章 背景知識與相關研究..............................................................3
2.1 STEM 教育................................................................................ 3
2.2 模組化設計與STEM教育輔具......................................................5
2.3 觸覺回饋..................................................................................10
2.4 觸覺回饋於遊戲中的發展...........................................................12

第三章 Haptic Maker 主機 ..............................................................15
3.1 硬體..........................................................................................15
3.1.1 硬體使用說明..........................................................................15
3.1.2 硬體架構................................................................................16
3.1.3 型號差異................................................................................18
3.1.4 模組控制接口.........................................................................21
3.1.5 模組電源供應.........................................................................24 
3.1.6 指示燈...................................................................................27
3.2 Haptic Maker 通訊協定........................................................... 29
3.2.1 通訊方式、傳送指令型態與規範..............................................29
3.2.2 模組控制接口代碼對應ArduinoPin腳位...................................31
3.2.3 特殊指令...............................................................................32
3.2.4 觸覺回饋模組系統測試 APP(Android)....................................34
3.2.5 Unity 與 Arduino 控制程式 .................................................. 37

第四章 觸覺回饋模組......................................................................40
4.1 致冷晶片..................................................................................40
4.2 電熱片.....................................................................................42
4.3 震動馬達..................................................................................43
4.4 霧化器.....................................................................................44
4.5 慣性馬達..................................................................................46
4.6 風扇.........................................................................................47
4.7 模組使用規範............................................................................48
4.8 模組使用情況與VR控制器用骨架................................................50

第五章 場域測試..............................................................................53
5.1 腦力激盪法Brainstorming..........................................................54
5.2 開發組測試結果.........................................................................58
5.3 腦力激盪組測試結果..................................................................63
5.4 問卷設計...................................................................................65
 
第六章 結論與未來展望....................................................................68
參考文獻 ....................................................................................... 69
附錄一 ........................................................................................... 72
附錄二 ........................................................................................... 73
附錄三 ........................................................................................... 74
 
圖目錄
圖 2.1 littleBits Rule Your Room KIT 開發套件[13] ........................... 6
圖 2.2 littleBits 使用範例[13] ........................................................... 6
圖 2.3 Grove Starter Kit 開發套件[14] ............................................. 7
圖 2.4 Grove 使用示意圖[14] ........................................................... 8
圖 2.5 Haptic Maker 整合兩套系統的優點......................................... 9
圖 2.6 TouchMover 設備組件簡述[9]................................................ 11
圖 2.7AquaCAVE使用情境[10]...........................................................11
圖 2.8 Nintendo Switch Joy-Con[11]............................................... 12
圖 2.9 Impactor 使用情境[3]............................................................ 13
圖 2.10 Birdly 使用情境[4] ................................................................ 14
圖 3.1 模組安裝示意圖.......................................................................15
圖 3.2 系統硬體架構..........................................................................16
圖 3.3 Haptic Maker 程式執行流程圖................................................ 17
圖 3.4TypeA俯瞰圖與硬體接口位置圖................................................19
圖 3.5 Type B 俯瞰圖與硬體接口位置圖 ........................................... 20
圖 3.6 Type VR 俯瞰圖與硬體接口位置圖 ......................................... 20
圖 3.7ULN2003A(左)與Tip120(右)....................................................22
圖 3.8 18605 鋰離子電池..................................................................25
圖 3.9TypeA使用18605鋰離子電池供應模組電源...............................25
圖 3.10 Type B 使用 18605 鋰離子電池供應模組電源 ....................... 26
圖 3.11 Type VR 使用 18605 鋰離子電池供應模組電源 ..................... 26
圖 3.12TypeA指示燈使用情況..................................................................27
圖 3.13 Type B 指示燈使用情況 .................................................................. 28
圖 3.14 Type VR 指示燈使用情況 ............................................................... 28
圖 3.15 指令型態..........................................................................................29
圖 3.16 指令’s’回傳格式..............................................................................32
圖 3.17 指令’n’回傳格式.............................................................................33
圖 3.18測試程式Calculator介面................................................................34
圖 3.19 測試程式Slider介面......................................................................34
圖 3.20 Calculator 介面 Type A 模式 ........................................................... 35
圖 3.21 Slider 介面 Type A 模式................................................................... 35
圖 3.22Calculator介面詳細按鈕功能說明.................................................36
圖 3.23 Unity 範例專案介面......................................................................... 37
圖 3.24 選擇Arduino連接埠......................................................................38
圖 3.25 連線成功開始接收Analog值........................................................38
圖 3.26 改變模組控制接口PWM值..........................................................39
圖 3.27 Serial Monitor 介面 .......................................................................... 39
圖 4.1TES1-00730.........................................................................................40
圖 4.2TES1-4902...........................................................................................41
圖 4.3 電熱片................................................................................................42
圖 4.4 震動馬達............................................................................................43
圖 4.5 霧化器................................................................................................44
圖 4.6 慣性馬達............................................................................................46
圖 4.7ADDAAD0505LX-G70風扇............................................................47
圖 4.8Vive控制手把骨架正面與背面........................................................50
圖 4.9Vive移動定位器骨架正面與背面....................................................51
圖 4.10 模組可任意更換位置......................................................................51
圖 4.11 Type B 模組安裝示意圖 .................................................................. 52
圖 4.12 Type VR 模組安裝示意圖 ............................................................... 52
圖 5.1 觸覺回饋模組體驗............................................................................55
圖 5.2 提出與主題有關的想法....................................................................55
圖 5.3 針對所有的Idea進行情境分類.......................................................56
圖 5.4 Brainstorming 結果發表..................................................................... 56
圖 5.5 開發組測試Brainstorming過程照片...............................................57
圖 5.6 “消防救難隊”硬體裝置 ..................................................................... 58
圖 5.7 “消防救難隊”玩家照片 ..................................................................... 58
圖 5.8 “消防救難隊”玩家靠近火源 ............................................................. 59
圖 5.9 “消防救難隊”玩家因水槍後座力後退，火源熄滅.........................59
圖 5.10“展瑗歷險記”硬體裝置...................................................................60
圖 5.11“展瑗歷險記”玩家照片...................................................................60
圖 5.12“展瑗歷險記”出招前.......................................................................61
圖 5.13“展瑗歷險記”出招後.......................................................................61
圖 5.14 開發組測試開發結果......................................................................62
圖 5.15 腦力激盪組測驗過程......................................................................63
圖 5.16 腦力激盪組測驗結果與合照..........................................................64

表目錄
表 2.1 Haptic Maker 與兩套系統比較表........................................................ 9 
表 3.1 Type A、Type B、Type VR 之規格差異 .......................................... 19
表 3.2 大小電流模組定義............................................................................22
表 3.3 模組控制接口規格表........................................................................23
表 3.4 指示燈對應PWM值變化................................................................27
表 3.5 模組控制接口代碼對應ArduinoPin...............................................31
表 3.6 特殊指令代碼與功能........................................................................32
表 4.1TES1-00730詳細規格.......................................................................40
表 4.2TES1-4902詳細規格.........................................................................41
表 4.3 電熱片詳細規格................................................................................42
表 4.4 震動馬達詳細規格............................................................................43
表 4.5 霧化器詳細規格................................................................................45
表 4.6 慣性馬達詳細規格............................................................................46
表 4.7ADDAAD0505LX-G70風扇詳細規格............................................47
表 4.8 大小電流模組分類表........................................................................48
表 5.1 問卷結果統計表................................................................................66

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