本文建構一運動追蹤器(Motion Tracker)，包含光學設計、電路實作、組裝、校正。引入普朗克座標系(Plücker Coordinate)空間線幾何之概念建立空間定位之數學方法，將此方法應用於系統校正、及標誌點定位方法。本文將提出校正方法之修正方案以及引入線幾何模型之校正方法，進行實驗並分析其結果。

本文亦建構一掌部模型，並設計螺旋運動軸之找尋方法，利用模擬雜訊的方式測試該方法之穩定性，最後再挑選適合的器材進行掌部關節軸之找尋。具運動軸之掌部模型有22個自由度，手掌具有1個自由度；拇指具有5個自由度；其餘手指則各有4個自由度。在單一關節軸尋找方面，由於人體關節非單純的旋轉運動。把每一個關節分三個位置掃描經基礎點對正後，找出三個相對運動螺旋軸。為簡化關節軸模型再以MODS方法找出各關節運動範圍內最佳運動螺旋軸代表該關節軸。

為利用運動追蹤器擷取掌部運動並於掌部模型重現運動，因此建立傳統逆向運動學計算方法與簡化後之幾何解法以計算運動軸關節角。亦比較各式順向運動學方法，利用較具效率之方法重現掌部模型之運動。最後提出點資料後處理方法求得較平順之掌部運動，並記錄掌部運動，未來便能重現或編修該運動。

The purpose of this study is focused on the development of a real time hand model tracking system. The tracking system uses optical sensors and IRLED markers. Plücker Coordinate is employed to represent the lines in the Calibration and 3D position calculation process. This method is revised from the previous point based method and can improve the precision of the system.

The study uses screw axis to create a real hand model. In order to accurately estimate the joint axis of the hand model, Over-determined method is used to find the locations of individual screw axis, for three positions within the motion range. To simplify the joint model, an optimal screw axis is obtained by a MODS method. In this study, hand model has 22 degrees of freedom. There is a joint in the palm, 5 joints in the thumb, and 4 joints in every other finger. The relationship between the hand model and the joint axes is registration parametrically. Therefore the motion of one’s can be able to be replayed by different hand model easily.

The study also considers a technique for computation of the forward and inverse kinematics of the human hand model. The study provides two methods to solve kinematic issue. One is the common inverse kinematics model that is modified to incorporate screw axes. The other is a specialized geometric inverse method that is suitable human fingers. Using the specified kinematic model, we can implement real-time tracking, motion recording, and motion editing functions in the tracking system.

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