Development of Artificial Skin System and Integration into NTU-Hand IV
Date Issued
2006
Date
2006
Author(s)
Yeh, Po-Chun
DOI
en-US
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 composed of normal force sensor and slippage sensor. To enhance the grasping ability, a fuzzy-based force control algorithm integrated with artificial skin system is applied.
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. Therefore, the artificial skin has 3D tactile sensing ability via these two kinds of sensors. 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. According to the signals sensed from the artificial skin, an inference engine will infer an adequate motor torque from data base. 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.
Subjects
觸覺感測器
人工皮膚
人工義肢
力量控制
摩擦錐
力量封閉
tactile sensor
artificial skin
dexterous
force control
friction cone
force closure
Type
thesis
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