觸覺式指尖型感測器之設計

Abstract

裝置於機器手指尖的觸覺式指尖型感測器可以提供機器手進行精巧操作 所需之觸覺式資訊．其中主要的一種觸覺式指尖型感測器是由一個類似指 尖的結構及數個貼於這個結構上的應變轉換器所構成，而這些應變轉換器 是用來量測觸覺式指尖型感測器碰觸物體時轉換器所在位置結構所產生的 應變．經過校準後，一個力向量可以從轉換器的電氣輸出計算而得．而接 觸式資訊，例如：碰觸力的大小，方向以及碰觸點，則可從此一力向量的 到．觸覺式指尖型感測器在目前的設計中主要有三個難題．第一個難題是 由於結構設計不良，使得力向量的計算易受干擾；第二個難題是傳統的校 準方法無法精確的施加校準力；第三個難題是傳統的製造方法無法有效率 的製造如人類手指般大小的感測器．因此，我們提出兩種新的結構設計， 一種精確的校準方法，以及一些微小製造技術上的考慮來解決這三個難題 ． Fingertip tactile sensors(FTS) which are equippped on the fingertips of robot hands can provide robot hands with the tactile information to perform dextrous manipulation. A major kind of FTS is composed of a fingertip-like structure and several strain transducers on the structure. The strain transducers measure the strains when the sensor touches an object. After calibration, a force vector can be calculated from the electrical outputs of the strain transducers. The tactile information, e.g. contact force magnitude, angle and contact point, can be derived from the force vector.Three primary difficulties for the FTS are encountered in the current design. First, due to the ill structural design, the conventional FTSs are sufferringmeasurement uncertainty and interferences on the calculation of the force vector. Second, the conventional calibration method is inefficient and expensiveto apply calibration force precisely. Third, the conventional fabricationtechnology is inefficient to implement the miniature FTS as small as a humanfingertip.Therefore, in this thesis, we propose two new structural designs, a precisecalibration method and considerations on miniature fabrication to resolvethe three difficulties.