在中醫脈診中，對於下壓的分部有著各家的學說，本論文採用傳統中醫的三部分層，分別為浮、中、沉去進行取脈流程的探討。一個完善的取脈流程可以提供具有多重資訊的數據給中醫以及西醫使用。而對於取脈的壓力、深度、角度以及輔助脈點判斷都會進行實驗以及說明。

為了更加完善取脈流程中的自動化流程，第2.1代脈象儀(PMI v2.1)加入了手腕固定器去輔助量測，不過這兩者是兩個分開且獨立運行的系統。在第2.5代脈象儀(PMI v2.5)中，脈象儀主系統和手腕固定器的整合是本論文的成果之一。在雙系統整合之後，關於脈象儀的所有移動控制都必須在使用者介面上完成，為此使用者介面也進行了改版去符合新的控制需求，及時濾波器和回饋控制都是新加進去的功能，目的是為了輔助操作者進行脈波訊號的擷取，而實驗結果也顯示這些新的功能確實能幫助操作者擷取到比較好的脈波訊號。

機械手指在接觸上的不足，經由軟墊實驗進行了補強，而深度實驗提供了取脈流程所需的終點壓力。把寸、關、尺的起點壓力定為6、6、7 Psi，終點壓力定為0.6 Psi，並採用15分段進行取脈可以得到需求的數據呈現方式，這也是本論文取脈流程研究的最終成果。在這取脈流程和脈象儀2.5代的搭配之下，脈波資料的擷取相較於前代將會更為準確，而脈波資料的分析方法也將同時包含中醫和西醫的需求，對於中西醫之間的交流可能會有幫助。

In Chinese medicine palpation, there are many theory in the pressed down segment. This thesis use the method of traditional Chinese medicine which are Fu, Zhong, and Chen, respectively. A complete pulse-taking protocol can provide the data with multiple information to Chinese and Western medicine. There are several experiments such as pressure, depth, angle and auxiliary pulse wave point judgement will be examined and illustrated.

In order to improve the semiautomatic procedure in the pulse-taking protocol, PMI v2.1 add wrist-fixer to help measurement. Nevertheless, these two systems are separated and computed individually. In PMI v2.5, the integration of these two systems is one of the results in this thesis. After system integration, all the movement control have to be done at GUI. Therefore, the promotion of GUI conform the new control requirement and add two new functions which are real-time filter and feedback control. The purpose of added function is to help operator acquiring pulse wave signal, in addition, the experiment’s result proves that.

The weakness of robot finger is fixed by the result of soft pad experiment. The depth decision experiment provide the end pressure for pulse-taking protocol. Setting Cun, Guan, Chi into the initial pressure 6, 6, 7 Psi; end pressure 0.6 Psi and segments into 15 can acquire the required data type. Moreover, this is the final pulse-taking protocol result. PMI v2.5 with standard pulse-taking protocol can let data acquisition more precisely and stable than previous version. The data analysis will contain the demand of Chinese and Western medicine, hence, PMI v2.5 may be a bridge between Chinese and Western medicine.

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