Study of Optical Slipping Sensor for Grasping in Functional Electrical Stimulation
Date Issued
2005
Date
2005
Author(s)
Liao, Chien-Jen
DOI
zh-TW
Abstract
藉由功能性電刺激進行抓握物體時，握力不足可能造成握持物滑動之現象。現今雖有滾輪式滑動感測器運用於功能性電刺激上，利用回饋機制以求達到握物止滑的目的，但由於運用於功能性電刺激上的滾輪式感測器解析度較低，所以對於滑動現象之偵測較不靈敏，造成系統的反應速度較慢。故本研究將一光學滑動感測器應用於功能性電刺激系統上，以改進滾輪式滑動感測器系統解析度較低及反應速度較慢的缺點，並解決握物滑動之問題。
本研究之光學滑動感測器由一發光二極體和影像感測器所組成。利用發光二極體當作光源，藉由影像感測器偵測物體表面特徵之移動狀況，判斷出握物滑動的情形，而滑動訊號由訊號擷取卡收集，並由LabVIEW程式做處理。當滑動發生時，系統可以有更快速及更精確的滑動訊號回饋，藉由功能性電刺激即時增大抓握力量，達到握物止滑之目的。
The shortage of grasping force while using functional electrical stimulation to grasp objects may cause object to slip. Though rolling sensor is used as feedback in the closed-loop system, the low resolution of it makes the system can’t detect the precise motion. In this work, an optical slipping sensor is used to replace the rolling sensor to improve the problem.
The slipping sensor is developed by an optical mouse sensor which can detect the precise motion between the palm of the hand and grasping object. Sensing signal is then collected by DAQ card and processed through LabVIEW program. The results show that the performance of the system is improved.
Subjects
光學滑動感測器
功能性電刺激
抓握
閉迴路控制
Optical slipping sensor
Functional electrical stimulation
Grasping
Closed-loop control
Type
thesis
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