臺灣博碩士論文加值系統

本研究提出結構化電極的概念，以建立出具辨認滑動及其方向之軟性觸覺感測器。觸覺感測器元件結構基本上為一三明治結構，利用半導體製程設計製作微電極之結構於壓電薄膜(PVDF)上，並以矽橡膠製作結構黏接在電極上，當多軸作用力施於結構上時，利用矽膠結構作為傳力構件，水平方向的力量將造成扭矩(Torsion)的效應，使得結構下方之壓電薄膜處產生不均勻的應力分佈，再以分散式的微電極(Distributed Microelectrodes)輸出其所對應的電壓，並藉由各個微電極之訊號辨別其應力分佈狀態，進而判別物體滑動的發生及其方向。本研究依矽膠結構之尺寸、正向力大小等不同狀況進行滑動試驗分析，由實驗結果可知滑動訊號與結構高度、正向力大小息息相關，當正向力愈大以及矽膠結構愈高，所造成之滑動電壓愈大，亦會導致訊號的型態改變，經由結構化電極之正負電壓訊號可判別物體滑動的方向，在砝碼尚未滑動前，訊號呈現靜態，滑動產生時正負電壓訊號將瞬間使兩者相位改變，由此可知已發生滑動現象，故可正確預知物體產生滑動的現象。未來可應用於手機觸控用以辨認大小力量與方向、機器人之手部觸覺防滑感測器等

A novel flexible tactile sensor for sensing the incident slippage and its direction were designed by introducing the concept of structural electrodes on a piezoelectric film (PVDF). The structural electrodes consisted of silicone rubber column and distributed microelectrodes between the silicone rubber column and PVDF film. As an object placed upon the silicone rubber column and pushed by an external force, the movement and slippage of object can be detected by the output voltages from the distributed electrodes due to the corresponding stress state under the rubber column. In addition, two opposite output signals from different sides of column can differentiate the direction of slippage as the column was bent by object. The resulting signal for sensing slippage depends on the size of column, weight of object, as observed in the experiments.
A larger peak value of signal can be generated for either larger size of column or heavier weight of object due to the more bending moment and normal force, respectively. In general, the flexible tactile sensor can predict not only the occurrence of slippage if the normal force is not only enough but also the direction of object movement, which cannot be achieved by conventional pressure sensor or touch sensor for normal force. Therefore, the sensing technique can be applied to many applications such as handheld devices, smart skin for robot and entertainment devices in the future.

目次
摘要 I
Abstract II
符號編彙 III
致謝 IV
目次 V
表目錄 VII
圖目錄 VIII
第一章 緒論 1
1.1前言 1
1.2研究動機與目的 1
1.3研究方法 2
1.4文獻回顧 2
1.5本文架構 6
第二章 理論基礎與數值分析 7
2.1理論基礎 7
2.2模擬參數設定 10
2.3模擬結果與討論 13
第三章 元件設計與製程 15
3.1觸覺感測器之製作 15
3.1.1矩陣式軟性觸覺感測器之製作 15
3.1.2矩陣橡膠結構之設計與製作 16
3.2濾波電路之設計與製作 19
3.2.1濾波器的基本分類 20
第四章 實驗系統架構與流程 23
4.1實驗儀器 23
4.2實驗架構 27
4.2.1辨認方向之實驗架構 27
4.2.2辨認滑動之實驗架構 29
4.3人機介面程式架構 32
4.3.1 PVDF觸覺感測器訊號擷取 32
4.3.2完整人機介面架構 32
第五章 結果與討論 34
5.1實驗結果 34
5.1.1方向辨認實驗結果 34
5.1.2滑動實驗結果 35
5.1.3實驗討論 39
第六章 結論與未來展望 40
6.1結論 40
6.2未來展望 41
參考文獻 42
附錄
A OP07規格表-1 44
B OP07規格表-2 45
C PVDF參數表 46
作者簡介 47

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