Highly Twistable Tactile Sensing Array for Humanoid Robot Applications
|Keywords:||人工皮膚;軟性電子;觸覺感測陣列;螺旋電極;導電橡膠;artificial skin;flexible electronics;tactile sensing array;spiral electrode;conductive polymer;resistance sensing||Issue Date:||2009||Abstract:||
本研究採用彈性電路的概念，發展出可高度伸展之觸覺感測器陣列，將做為於仿生機器人之人工皮膚。由於傳統式可撓性感測陣列於高度變形與拉扯的情況下，導線或電極容易破裂損壞，因此本研究提出一種具有高度可拉扯性與撓曲性的螺旋式電極，將可提升導線與電極在撓性基材內的可靠度。所提出的觸覺感測陣列以聚二甲基矽氧烷 (Polydimethylsiloxane, PDMS) 做為可撓性基材與導電橡膠材質。在研究中，實驗設計將被應用於尋找出導電橡膠最佳成分比例。另外，本研究提出一種創新的製造方法，可製作出大面積一體成型的觸覺感測器陣列。首先利用數值加工機製作出壓克力內部模具，並使用外部模具來控制感測陣列厚度，再將PDMS注入內外模具之間的空隙。研究中亦開發電阻式觸覺感測陣列掃描電路，並發展LabVIEW圖形介面程式，以進行外部壓力分佈實驗與量測。實驗結果呈現，可以成功的擷取到人工皮膚受力分佈圖形。
This thesis presents the development of highly-stretchable tactile sensing arrays which can be employed as the artificial skins for bio-mimetic robots. Conventionally, the electrodes of flexible sensing array are vulnerable under highly-deforming and stretching. To address this problem, highly-stretchable spiral electrodes were proposed and developed to increase the reliability of electrodes or interconnects for flexible sensing arrays. In order to cover complex curve surfaces, polydimethylsiloxane (PDMS) is used as the base materials for substrates and conductive polymers. Also, the technique of Design of Experiments is adapted to obtain the optimal compositions of conductive polymer with best performance for applications.n addition, a novel method to fabricate a single-piece large-area sensing array has been proposed. The PMMA inner mold and outer mold are machined by using a CNC. Then, the spiral electrodes and sensing elements are implemented on the inner mold. Subsequently, the sensing array can be realized by pouring PDMS pre-polymer into the gap between the inner mold and outer mold. The thickness of the sensing array can be controlled by replacing outer mold. The measurements of sensing forces of the device were carried out. The scanning circuits as well as LabVIEW graphical interface were also developed, and the pressure distribution of artificial skin can be successfully captured.
|Appears in Collections:||機械工程學系|
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