Development of Artificial Skin System and Integration into NTU-Hand IV Testing and Applications
           

- 指導教授 黃漢邦 博士 研究生 葉柏村

- Advisor :Dr.Han-Pang Huang Student :Po-Chun Yeh

Lab. of Robotics., Department of Mechanical Engineering National Taiwan University Taiwan
Abstract:

The purpose of this thesis is to develop an artificial skin system that is suitable for NTU-Hand IV, which was developed in our laboratory. The artificial skin is combined with two kinds of sensors. One is a normal force sensor. A flexible printed circuit board is combined with a pressure conductive rubber (CSA) to detect the distribution and magnitude of normal force. The other one is a slippage sensor, whose sensing material is PVDF (PolyVinyliDene Fluoride) piezoelectric polymer strip. Slippage sensor is used to detect the slip of grasped object. Moreover, the hardware-firmware system and the graphical user interface are developed and integrated with a stand-alone control system. The hybrid force/position control is the architecture of the grasping control. A Fuzzy-Based force control methodology and multi-sensor fusion are applied and integrated with the artificial skin. Friction cone and force closure are also considered while grasping. NTU-Hand IV with the artificial skin will then be simulated to grasp well as that of mankind performance.

中文摘要:


本篇論文之目的，是發展一套適用於實驗室已發展之NTU-Hand IV的人工皮膚，使NTU-Hand IV有觸覺的感知能力。此外並以模糊理論為基礎的抓握控制演算法，配合人工皮膚，提升NTU-Hand IV的抓握能力。


人工皮膚是由兩種感測器組成。正向力感測器是由撓性電極板和壓力導電橡膠 CSA（Pressure Conductive Rubber, CSA）結合而成，以感測正向力的大小及分佈；滑動感測器的材料是PVDF (PolyVinyliDene Fluoride)，用以感測抓握物體的滑動情形。透過兩種感測器，使人工皮膚具有感測三維觸覺的感測能力。最後亦發展適用於人工皮膚之硬體、韌體及使用 者圖形介面，並與獨立的控制系統作整合。


在抓握控制演算法方面，力量/位置混合控制為抓握控制的架構，並引進了以模糊控制為基礎的力量控制以及多 感測器融合理論。在抓握時，將人工皮膚所感測到的訊號作為模糊控制的輸入，根據資料庫推論出適當的馬達扭力大小，並考慮力量封閉和摩擦圓錐，使NTU- Hand IV能達到穩定抓握，並擁有近似人類抓握的能力。