觸覺感測系統之發展與NTU-Hand IV抓取整合

Development of Tactile Sensor System and Grasping Integration of NTU-Hand IV

楊家瑋(Jai-Wei Yang)

指導教授 ： 黃漢邦

共同指導教授 ： 孫瑞昇(Jui-Sheng Sun)

國立臺灣大學/工學院/機械工程學研究所/碩士(2004年)

https://doi.org/10.6342/NTU.2004.10295

摘要

本文之主要目的，是建立一套高性能觸覺感測系統，用於力量分佈之監測。此外並以Tension Spline Algorithm來完成人工義肢指尖之軌跡規劃，增加抓握之能力，並搭配觸覺感測系統做抓握時力量之控制。
在觸覺感測系統發展方面，主要採用感應靈敏度高的導電橡膠與撓性電路版結合，並藉以多聚合物加以固定，此外並發展適用於此陣列式壓組感應器之硬體及韌體，最後亦設計一個人性化的人機圖形監控介面，透過圖形介面，使用者可隨時掌握力量的分佈情形。
在軌跡規劃方面，引入了Tension Spline Algorithm，藉以可調式因素，達到多種軌跡規劃的目標，並結合位置-力量控制，達到人工義肢之抓握規劃。此外提出Tension Spline Alforithm於影像處理方面之應用的想法，以期得到更好的監視畫面。

關鍵字

觸覺感測器

並列摘要

In this thesis, we develop a tactile sensor system with high performance. The tactile sensor is integrated into the fingertip of prosthetic hand (NTU-Hand IV) to monitor the force distribution. To enhance the grasping ability, we apply the Tension Spline Algorithm to trajectory generation of NTU-Hand IV’s fingertip. Also, the force control of grasping is implemented with the tactile sensor system.
In the development of the tactile sensor system, we use polymer layer to combine the high sensitive pressure-conductive rubber with thin-flexible printed-circuit board. Meanwhile, the hardware-firmware system and the graphical user interface are developed to monitor resistive-array sensor and handle the force distribution.
In trajectory generation, the Tension Spline Algorithm is integrated into multi-trajectory generation by adjusting of tension factor, and the position-force controller is used to implement the grasping planning for NTU-Hand IV. Besides, that Tension Spline Algorithm applied to the image processing domain is also proposed to gain better force distribution monitor.

並列關鍵字

Tactile Sensor ； Tension Spline

參考文獻

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