| Summary: | 博士 === 國立交通大學 === 電子工程學系 === 86 === Fingertip tactile sensors(FTS) which are equippped on the
fingertips of robot hands can provide robot hands with the
tactile information to perform dextrous manipulation. A major
kind of FTS is composed of a fingertip-like structure and
several strain transducers on the structure. The strain
transducers measure the strains when the sensor touches an
object. After calibration, a force vector can be calculated from
the electrical outputs of the strain transducers. The tactile
information, e.g. contact force magnitude, angle and contact
point, can be derived from the force vector.Three primary
difficulties for the FTS are encountered in the current design.
First, due to the ill structural design, the conventional FTSs
are sufferringmeasurement uncertainty and interferences on the
calculation of the force vector. Second, the conventional
calibration method is inefficient and expensiveto apply
calibration force precisely. Third, the conventional
fabricationtechnology is inefficient to implement the miniature
FTS as small as a humanfingertip.Therefore, in this thesis, we
propose two new structural designs, a precisecalibration method
and considerations on miniature fabrication to resolvethe three
difficulties.
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