本論文主要在討論一個基於人體姿態偵測之復健與機器人模仿系統之設計及建立。此系統之復健系統是利用kinect的肢體運動及關節變動之辨識技術進行復健工作，而在機器人模仿系統之設計上是利用kinect之人體姿態擷取功能以建立人形機器人可以做出和人一樣的動作及行為。基於復健系統我們建構復健系統流程圖並進行髖關節活動六種角度復健量測，肩關節活動度量測，膝關節活動度量測，髖部激勵動作，肘關節活度量測等並做一些測試結果之評估。而在機器人模仿系統中我們廣泛討論了人形機器人之結構，人型機器人之手足運動控制及人機介面設計等。

The Development of a Rehabilitation and Robot Imitative System Based on the Detection of Human Posture and Behavior.
In this thesis it basically discusses the design and the development of a rehabilitation and robot imitative system based on the detection of human posture and behavior. The rehabilitation system is using the Kinect’sidentification system based on the limb kinetic and joint movement to perform the rehabilitationprocess while in the design of the robot imitative system it extracts the functions of the kinect’s human posture and behavior to build an imitative system to have the robot to perform the actions as close as to the human beings.
Based on the rehabilitation system we setup a functional block diagram for the test of rehabilitationprocess in the hip joint movement in six angles, in the shoulder joint movement, knee movement, hip muscle movement and elbow movement and then make the evaluation of these tests. 
In the robot imitative system we discuss widely in the structure of the imitative robot system, the hand and foot movement control and the design of human-robot interface and human-computer interaction.

目錄
致謝....................................................I
中文摘要................................................II
ABSTRACT..............................................III
目錄.................................................VIII
圖目錄..................................................X
表目錄................................................XIV
第一章 緒論..............................................1
1.1 研究背景.............................................1
1.2 研究動機.............................................1
1.3 研究目的.............................................2
1.4 整體架構.............................................2
1.5 論文架構.............................................3
第二章 Kinect系統設計....................................4
2.1 Microsoft Kinect....................................4
2.2 Kinect影像程式.......................................5
2.3 Kinect骨架資訊擷取...................................5
2.4角度轉換..............................................7
第三章 復健系統..........................................8
3.1 復健流程.............................................8
3.2 復健動作量測.........................................9
3.3 復健動作評估........................................23
第四章 機器人之機構與電路設計.............................28
4.1人形機器人各部位統綱..................................28
4.2人型機器之主要核心板..................................29
4.3人型機器之運動核心板..................................30
4.4人型機器人之周邊電路設計...............................31
4.5機器人控制系統介紹....................................32
4.6人機介面介紹.........................................33
4.7人機模仿.............................................33
第五章 結論與未來展望....................................35
5.1 結論與未來展望......................................35
參考文獻................................................36

圖目錄
圖 1.1論文系統架構圖......................................3
圖 2.1 Microsoft Kinect.................................4
圖2.2 RGB彩色影像........................................	5
圖2.3 3D深度影像.........................................5
圖2.4 Kinect可擷取關節點.................................6
圖2.5 Kinect繪出的人體骨架影像............................6
圖2.6 將骨架關節點在彩色影像顯示...........................6
圖3.1 復健流程圖.........................................9
圖3.2 髋關節活動度動作圖.................................10
圖3.3 髋關節活動度量測(1)................................10
圖3.4 髋關節活動度量測(2)................................10
圖3.5 髋關節活動度量測(3)................................11
圖3.6 髋關節活動度量測(4)................................11
圖3.7 髋關節活動度量測(4)................................11
圖3.8 髋關節活動度量測(5)................................11
圖3.9 髋關節活動度量測(5)................................12
圖3.10髋關節活動度量測(6)................................12
圖3.11髋關節活動度量測(6)................................12
圖3.12肩關節活動度動作圖.................................13
圖3.13肩關節活動度量測(1)................................13
圖3.14肩關節活動度量測(1)................................13
圖3.15肩關節活動度量測(2)................................14
圖3.16肩關節活動度量測(2)................................14
圖3.17肩關節活動度量測(3)................................14
圖3.18肩關節活動度量測(3)................................14
圖3.19肩關節活動度量測(4)................................15
圖3.20肩關節活動度量測(4)................................15
圖3.21肩關節活動度量測(5)................................15
圖3.22肩關節活動度量測(5)................................15
圖3.23肩關節活動度量測(6)................................16
圖3.24肩關節活動度量測(6)................................16
圖3.25膝關節活動度動作圖.................................16
圖3.26膝關節活動度量測...................................17
圖3.27膝關節活動度量測...................................17
圖3.28坐位抱膝活動度動作圖	...............................17
圖3.29坐位抱膝活動度動作圖	...............................17
圖3.30坐位抱膝活動量測...................................18
圖3.31坐位抱膝活動量測...................................18
圖3.32俯臥屈膝活動度動作圖	...............................18
圖3.33俯臥屈膝活動度動作圖	...............................18
圖3.34俯臥屈膝活動量測...................................19
圖3.35俯臥屈膝活動量測...................................19
圖3.36床邊垂腿活動度動作圖	...............................19
圖3.37床邊垂腿活動度動作圖	...............................19
圖3.38床邊垂腿活動量測...................................20
圖3.39床邊垂腿活動量測...................................20
圖3.40臥位直抬腿練習動作圖	...............................20
圖3.41臥位直抬腿練習量測.................................20
圖3.42髖部肌力動作圖.....................................21
圖3.43髖部肌力動作圖.....................................21
圖3.44髖部肌力量測......................................21
圖3.45髖部肌力量測......................................21
圖3.46肘關節活動度動作圖.................................22
圖3.47側身關節活動度量測(1)..............................22
圖3.48側身關節活動度量測(1)..............................22
圖3.49側臥抬腿練習動作圖.................................23
圖3.50側臥抬腿練習量測...................................23
圖3.51側身關節活動度量測(1)..............................27
圖3.52側身關節活動度量測(1)..............................27
圖4.1機器人手部機構......................................28
圖4.2 機器人身體正面圖...................................29
圖4.3機器人身體正面圖....................................29
圖4.4 機器人之核心單板電腦TKU Board......................30
圖4.5 人形機器人之Nios運動控制板..........................30
圖4.6 Nios運動控制板之轉接板.............................31
圖4.7 FPGA系統圖........................................32
圖4.8人機介面圖.........................................33
圖4.9人機模仿圖.........................................34
圖4.10人機模仿圖........................................34 
表目錄
表3.1復健動作評估比對圖9~圖56............................23
表5.1人機模仿結果.......................................34

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