本論文旨在開發以慣性感測元件為基礎之手寫技術用以改善光學感測技術之互動式手寫筆現有的技術缺點，其主要目的為混合慣性及光學感測技術及開發相關慣性訊號演算法，使得互動式手寫筆成為一人性化人機互動介面。首先，我們整合慣性感測系統、光學感測系統與單晶片系統形成具即時運算功能之互動式手寫筆，並藉由射頻無線傳輸的方式將使用者握持手寫筆書寫時所產生的慣性及光學感測訊號傳送至電腦端，進行書寫軌跡補償及估測；其次，為了獲得準確的姿態估測，我們發展了一基於擴展式卡爾曼濾波器的慣性感測姿態估測演算法，用以降低慣性感測器訊號的雜訊及飄移在姿態估測上所造成的誤差。接著，我們利用該手寫筆研發高效能、低誤差的握筆姿態補償與提筆軌跡估測演算法。最後，經由實驗結果已成功地驗證互動式手寫筆具備下列特性與功能：(1)可準確地估測手寫姿態；(2)具二維平面書寫握筆姿態補償及提筆軌跡估測功能。

The objective of this thesis is to develop inertial-sensor-based handwriting technology to improve the existing technical disadvantages of optical interactive handwritten pens. At first, we integrate the inertial-sensing system, the optical-sensing system, and a single chip microcontroller into interactive handwritten pens, and the inertial and optical signals generated by handwriting movements are transmitted to a computer via a RF wireless transmission module. Subsequently, we utilized a sensor fusion algorithm based on an extended Kalman filter to minimize the cumulative errors caused by the intrinsic noise/drift of the inertial sensors. Then, through a firmware and software co-design method, we’ll develop interactive handwritten pens with the functions of pen-holding posture compensation and stroke segmentation trajectory estimation algorithm. Finally, the experimental results have successfully validated that the interactive handwritten pens with below innovative functions: (1) estimation of accurate hand movement orientations and (2) compensation of pen-holding postures and estimation of stroke segmentation trajectories in a two-dimensional writing plane.

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