隨著工業4.0的興起，機器人的發展也更加受關注，且近年來機器人在設計上朝向模仿人類的生活型態和行為進行設計，因而衍伸出仿機器人。本研究主要是以生活中所常見的動作搭配自製的壓力感測手套，進行握壓力道資料收集，將收集到的資料作進一步的分析。根據本研究結果，除了大拇指、中指以及無名指外，食指與小指也扮演著相當重要的角色。此外在仿機器人手指控制握壓力道的設計時，可以參考本研究結果來進行仿機器人手指的握壓力道控制及調整。

With the rise of Industry 4.0, the development of robots has also received more attention. In recent years, robots have been designed to imitate human life patterns and behaviors, thus extending the concept of robots. This research mainly uses self-made pressure-sensor gloves with the common movements in life to collect pressure data for further analysis. According to the results of this study, in addition to the thumb, middle finger, and ring finger, the index finger and the little finger also be a very important role. In addition, in the design of the robot finger, the grasping pressure control can be performed with reference the research results.

摘要 i
Abstract ii
目錄 iii
表目錄 vi
圖目錄 vii
一、 緒論 1
1.1 研究背景與動機 1
1.2 研究目的 2
1.3 研究流程 2
二、 文獻探討 3
2.1 手部壓力分佈： 3
2.2 機器手的控制： 4
2.3 醫療用機器手： 5
2.4 動作的分類： 6
三、 研究方法 7
3.1 實驗步驟 7
3.1.1 實驗流程 7
3.1.2 實驗對象 10
3.1.3 實驗動作 10
(1.) 動作一 水壺喝水： 10
(2.) 動作二 擠牙膏： 11
(3.) 動作三 擰抹布： 11
(4.) 動作四 倒洗衣精： 12
(5.) 動作五 接電話： 12
(6.) 動作六 開水瓶： 13
3.2 實驗設備 13
3.2.1 壓力感測片 13
3.2.2 Arduino微電腦控制器 14
四、 實驗設計與結果 15
4.1 折線圖 16
4.1.1 實驗小結－同一人做不同動作 16
4.1.2 實驗小結－不同人做同一動作 18
4.2 長條圖 21
4.2.1. 實驗小結－同一人做不同動作 21
4.2.2. 實驗小結－不同人做同一動作 23
4.3 箱型圖 26
4.3.1 實驗小結－同一人做不同動作 26
4.3.2 實驗小結－不同人做同一動作 28
五、 結論 31
5.1 研究結論 31
5.2 研究限制 32
5.3 未來展望 32
參考文獻 33
附錄A同一人做不同動作－折線圖 35
附錄B不同人做同一動作－折線圖 45
附錄C同一人做不同動作－長條圖 51
附錄D不同人做同一動作－長條圖 61
附錄E同一人做不同動作－箱型圖 67

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