Development of Tactile Sensor System and Grasping Integration of NTU-Hand IV

• Main Authors: Jai-Wei Yang, 楊家瑋
• Other Authors: Han-Pang Huang
• Format: Others
• Language: en_US
• Published: 2004
• Online Access: http://ndltd.ncl.edu.tw/handle/49919742391022635240

碩士 === 國立臺灣大學 === 機械工程學研究所 === 92 === In this thesis, we develop a tactile sensor system with high performance. The tactile sensor is integrated into the fingertip of prosthetic hand (NTU-Hand IV) to monitor the force distribution. To enhance the grasping ability, we apply the Tension Spline Algorithm to trajectory generation of NTU-Hand IV’s fingertip. Also, the force control of grasping is implemented with the tactile sensor system. In the development of the tactile sensor system, we use polymer layer to combine the high sensitive pressure-conductive rubber with thin-flexible printed-circuit board. Meanwhile, the hardware-firmware system and the graphical user interface are developed to monitor resistive-array sensor and handle the force distribution. In trajectory generation, the Tension Spline Algorithm is integrated into multi-trajectory generation by adjusting of tension factor, and the position-force controller is used to implement the grasping planning for NTU-Hand IV. Besides, that Tension Spline Algorithm applied to the image processing domain is also proposed to gain better force distribution monitor.