因動作障礙至復健部求診的患者日益增多，且大多以每週2到3次的頻率至醫院回診。這對居住偏遠地區病患相當不便。無形中也增加了醫院對物理治療師、職能治療師的人力需求以確保病患復健執行品質。因此遠距居家復健技術成為當今重要的發展課題。
本研究的目的是要建構一套符合臨床使用需求的遠距復健系統，協助居家端與醫院端進行復健資訊聯繫。本系統包括一個以三軸陀螺儀為主要動作感測元件的穿戴式復健動作監控裝置和復健資訊系統。本系統主要功能如下：(1)語音導引病患執行確實且正確的復健動作。(2)即時讓病患自行判斷動作的正確度。(3)協助計數「正確動作」次數。(4)對錯誤動作進行分類並告知錯誤原因。(5)具備遠距處方平台。
穿戴式復健動作監控裝置在角速度19.9(°/s)、55.2(°/s)和95.3(°/s)最大誤差分別為3.0°±7.0°、1.5°±1.7°和1.3°±1.8°。在實際人體動作實驗中與光學立體攝影系統做為比對。結果顯示：本系統可以提供一個具臨床參考價值之人體動作角度追蹤。

Patients with movement disorders for the treatments of physical therapy and other rehabilitative intervention are increasing in number. Most of them attend therapeutic sessions with the frequency about 2 to 3 times weekly, which in not convenient to those patients who live in the remote region. In addition, intensive medical manpower, including physical therapist and occupational therapist, is always required and essential to good rehabilitation qualities. So, tele-rehabilitation becomes a potentially important developed science and technology.
The purpose of this study is to construct a tele-rehabilitation system which fit the needs of therapist and to help providing crucial information of movement which transferring between the hospital and home along the rehabilitation courses. This system includes a wearable human motion capture device and a movement information system, where the main sensor of this wearable human motion capture device is a three-axis gyroscope. The main functions of this system are as follows, (1) The voice guidance which help patients to perform therapeutic exercise correctly and accurately. (2) With the real time machine-patient communication, patients can better determine the quality and accuracy of movements that they are performing. (3) Help counting and documentation of the number of "correct movement". (4) Classification of commonly seen incorrect movements and inform the reason of incorrect moving based on these classification. (5) Establish a tele-prescription platform.
The maximum error of the wearable human motion capture device were 3.0°±7.0°, 1.5°±1.7°and 1.3°±1.8°at the angular velocity 19.9(°/s) , 55.2(°/s) and 95.3(°/s) respectively, comparing with 3D Stereophotographic system at actual human motion experiment. This system can provide a reference value for human motion tracking in clinical use.

[1]"International Cardiovascular Disease Statistics ", American Heart Association2004.
[2]W. H. Organization, "The global burden of cerebrovascular," Global Burden of Disease, 2000.
[3]W. H. Organization, "The Atlas of Heart Disease and Stroke," Cardiovascular disease, .
[4]W. H. Organization, "50 facts," The world health report, 1997.
[5]J. M. Naylor, R. Mittal, K. Carroll, and I. A. Harris, "Introductory insights into patient preferences for outpatient rehabilitation after knee replacement: implications for practice and future research," J Eval Clin Pract, vol. 18, pp. 586-92, Jun 2012.
[6]C. Anderson, "Home or hospital for stroke rehabilitation results of a randomized controlled trial Ii cost minimization analysis at 6 months, Stroke," American Heart Association, pp. 1032-1037, 2000.
[7]J. M. Geddes and M. A. Chamberlain, "Home-based rehabilitation for people with stroke a comparative study of six community services providing coordinated, multidisciplinary treatment," Clinical Rehabilitation, vol. 15, pp. 589–599, Jun 1 2001.
[8]H. Sveistrup, "Motor rehabilitation using virtual reality," J Neuroeng Rehabil, vol. 1, p. 10, Dec 10 2004.
[9]H. Zhou and H. Hu, "Inertial sensors for motion detection of human upper limbs," Sensor Review, vol. 27, pp. 151–158, Feb 2007.
[10]K. S. Thomas, K. R. Muir, M. Doherty, A. C. Jones, S. C. O'Reilly, and E. J. Bassey, "Home-based exercise programme for knee pain and knee osteoarthritis a randomized control trial," BMJ, vol. 325, OCT 2002.
[11]H. Zhou and H. Hu, "A Survey - Human Movement Tracking and Stroke Rehabilitation," TECHNICAL REPORT: CSM-420, University of Essex, 2004.
[12]S. Dhurjaty, "The Economics of Telerehabilitation," TELEMEDICINE JOURNAL AND e-HEALTH, vol. 10, pp. 196-200, Num 2004.
[13]G. C. Burdea, "Keynote Address Virtual Rehabilitation—Benefits and Challenges," Methods Inf Med, pp. 519-523, 2003.
[14]W.-C. Hsu, Wang, T.-M., Liu, M.-W., Chang, C.-F., Chen, H.-L., and Lu, T.-W, "Control of body’s center of mass motion during level walking and obstacle-crossing in patients with knee osteoarthritis.," Journal of Mechanics., vol. 26, pp. 229-237, 2010.
[15]W. C. Hsu, M. W. Liu, and T. W. Lu, "Lower limb joint position sense in patients with type II diabetes mellitus," Biomedical Engineering - Applications, Basis and Communications, p. In press, In press.
[16]H. Zhou and H. Hu, "Human motion tracking for rehabilitation—A survey," Biomedical Signal Processing and Control, May 2007.
[17]J. E. Lenz, "A review of magnetic sensors," Proceedings of the IEEE, vol. 78, pp. 973-989, JUNE 1990.
[18]H. Zhou and H. Hu, "Reducing Drifts in the Inertial Measurements of Wrist and Elbow Positions," Transactions on Instrumentation and Measurement, vol. 59, pp. 575-585, March 2010.
[19]S. S. Hemami and A. R. Reibman, "No-reference image and video quality estimation: Applications and human-motivated design," Signal Processing: Image Communication, vol. 25, pp. 469-481, 2010.
[20]T. Hester, R. Hughes, D. M. Sherrill, B. Knorr, M. Akay, J. Stein, and a. P. Bonato, "Using Wearable Sensors to Measure Motor Abilities following Stroke," Wearable and Implantable Body Sensor Networks, 2006. BSN 2006. International Workshop on, pp. 4-8, 3-5, April 2006.
[21]E. J. W. V. Someren, "Actigraphic monitoring of movement and rest-activity rhythms in aging, Alzheimer's disease, and Parkinson's disease," Rehabilitation Engineering, IEEE Transactions on vol. 5, pp. 394-398, Dec 1997.
[22]D. M. Karantonis, M. R. Narayanan, M. Mathie, N. H. Lovell, and B. G. Celler, "Implementation of a real-time human movement classifier using a triaxial accelerometer for ambulatory monitoring.," Information Technology in Biomedicine, IEEE Transactions on vol. 10, pp. 156-167, Jan 2006.
[23]S. H. Lee, H. D. Park, S. Y. Hong, K. J. Lee, and Y. H. Kim, "A Study on the Activity Classification Using a Triaxial Accelerometer," Engineering in Medicine and Biology Society, 2003. Proceedings of the 25th Annual International Conference of the IEEE vol. 3, pp. 2941- 2943 Sept 2003.
[24]M. D. Plessis, E. Eksteen, A. Jenneker, E. Kriel, C. Mentoor, T. Stucky, D. v. Staden, and L. M. Division, "The effectiveness of continuous passive motion on range of motion, pain and muscle strength following rotator cuff repair a systematic review," Clinical Rehabilitation, vol. 25, pp. 291-302, 2010.
[25]D. O. Draper, EdD, ATC, and FNATA, "Ultrasound and joint mobilizations for achieving normal wrist range of motion after injury or surgery a case series," Athletic Training, vol. 45, Oct 2010.
[26]C. C. Norkin and D. J. White, Measurement of Joint Motion : A guide to Goniometry, 3 ed.: F. A. Davis company.Philadelphia, 2003.
[27]K. D. Nguyen, I.-M. Chen, Z. Luo, S. H. Yeo, and H. B.-L. Duh, "A Wearable Sensing System for Tracking and Monitoring of Functional Arm Movement," Asme Transactions on Mechatronics, vol. 16, April 2011.
[28]N. Arai and H. Shinada, "Optical linear encoder," U.S. Patent 4667099, 1987.
[29]Measurand,ShapeWrap, [Online] Available http://www.motion-capture-system.com/.
[30]G. X. Lee, K. S. Low, and T. Taher, "Unrestrained Measurement of Arm Motion Based on a Wearable Wireless Sensor Network," Transactions on Instrumentation and Measurement, vol. 59, pp. 1309-1317, May 2010.
[31]R. Zhu and Z. Zhou, "A Real_Time Articulated Human Motion Tracking Using Tri_Axis Inertial Magnetic Sensors Package," Transactions on Neural Systems and Rehabilitation Engineering, vol. 12, June 2004.
[32]H.J.Luinge and P. H. .Veltink, "Measuring orientation of human body segments using miniature gyroscopes and accelerometers," Medical & Biological Engineering & Computing vol. 43, pp. 273-282, 2005.
[33]X. Yun and E. R. Bachmann, "Design, implementation, and experimental results of a quaternion-based Kalman filter for human body motion tracking," Transactions on Rrobotics, vol. 22, pp. 1216-1227, Dec 2006.
[34]Z.-Q. Zhang and J.-K. Wu, "A Novel Hierarchical Information Fusion Method for Three-Dimensional Upper Limb Motion Estimation," Transactions on Instrumentation and Measurement, vol. 60, pp. 3709-3719, Nov 2011.
[35]D. Roetenberg, H. Luinge, and P. Slycke. (2009, April) Xsens MVN Full 6-DoF human motion tracking using miniature inertial sensors. XSENS Technologies.
[36]Z. Zhang, Z. Wu, J. Chen, and J.-K. Wu, "Ubiquitous human body motion capture using microsensors," presented at the Pervasive Computing and Communications, 2009. PerCom 2009. IEEE International Conference on, 2009.
[37]C. M. N. Brigante, N. Abbate, and A. Basile, "Towards Miniaturization of MEMS-Based," Transactions On Industrial Electronics, vol. 58, pp. 3234-3241, AUGUST 2011.
[38]Xsense, [Online] Available http://www.xsens.com/en/general/mtx?gclid=CJSg7oHHjrECFeNMpgodExUOPg.
[39]C. Jadhav, P. Nair, and V. Krovi, "Individualized interactive home-based haptic telerehabilitation," Multimedia, IEEE vol. 13, pp. 32-39, July-Sept 2006.
[40]L. Yu, L. Guo, X. Gu, J. Fu, and Q. Fang, "LVQ neural network applied for upper limb motion recognition for home-based stroke rehabilitation," presented at the Bioelectronics and Bioinformatics (ISBB), 2011 International Symposium on 2011.
[41]P. E. Taylor, G. J. M. Almeida, T. Kanade, and J. K. Hodgins, "Classifying Human Motion Quality for Knee Osteoarthritis Using Accelerometers," presented at the Engineering in Medicine and Biology Society (EMBC), 2010 Annual International Conference of the IEEE 2010.
[42]M. Milenkovic, E. Jovanov, J. Chapman, D. Raskovic, and J. Price, "An accelerometer based physical rehabilitation system," System Theory, 2002. Proceedings of the Thirty-Fourth Southeastern Symposium on pp. 57- 60, 2002.
[43]J. Brutovsk´y and D. Nov´ak, "Low-cost motivated rehabilitation system for post-operation exercises.," Engineering in Medicine and Biology Society, 2006. EMBS '06. 28th Annual International Conference of the IEEE pp. 6663-6666, Aug. 30 - Sept. 3 2006.
[44]S. Melzi, L. Borsani, and M. Cesana, "The virtual trainer Supervising movements through a wearable wireless sensor network.," Sensor, Mesh and Ad Hoc Communications and Networks Workshops, 2009. SECON Workshops '09. 6th Annual IEEE Communications Society Conference on pp. 1-3, 22-26 June 2009.
[45]R. Wang, H. Guo, J. Xu, and W. H.Ko, "A Supplementary System Based on Wireless Accelerometer Network for Rehabilitation," Nano/Micro Engineered and Molecular Systems (NEMS), 2010 5th IEEE International Conference on pp. 1124-1127, 20-23, Jan 2010.
[46]STMicroelectronics, Doc ID 14611 Rev 7, [Online] Available http://www.st.com/internet/com/home/home.jsp
[47]EPSON, AH-6100LR, [Online] Available http://www.epson-electronics.de
[48]Wikipedia [Online] Available http://en.wikipedia.org/wiki/Main_Page.
[49]Hizook, MX-28, [Online] Available http://www.hizook.com/.