應用於輔助照護機器人之智慧觸覺感測器系統開發與製作

Abstract

本研究開發一智慧觸覺感測器系統，可對於施加外力的分布進行偵測及判斷，可使機器人擁有觸覺回饋之功能，並可應用於前瞻之新興醫療照護產業。本系統可依據偵測到的數值可針對觸覺壓力大小與分佈進行意圖判斷演算，並輸出指令控制後端馬達驅動系統，輔助使用者進行移動或扶持等基本功能。利用感測陣列之架構與其貼附位置之幾何關係，可獲量測二維的力量之分佈。軟體設計上亦增加使用者意圖預測的功能，以期使用者下達之命令更能平順穩定操控機器人。 此外，本研究也對具壓阻特性之大面積導電高分子製程進行開發，可大量製作後再進行裁切用於不同情況與環境，且同一個批次內導電高分子薄膜的品質及特性相近，增加應用時的可靠度。製程使用市售之刮刀塗佈器，將調製完成的導電高分子半成品塗佈於尼龍濾膜上進行轉印，形成表面的微凸起結構。可節省過往塗佈前需先製作定義厚度及外型的SU8框架的時間，並提高成功率。

In this work, we presented an intelligent tactile sensing array system deployed on a human-walk-assisting robot. Two sets of tactile sensing arrays were installed on the handlebar of the robot. The tactile sensing elements on the sensor array measures the pressure force, and the two-dimensional force distribution can be rendered based on the geometric arrangement of the sensor array installed on the handlebar. The proposed sensing system generates the command to the motion driving system of the robot according to the measured force distribution. The algorithm for effectively estimating the intention of users was also developed for ensuring smooth transition of robot locomotion. In addition, a fabrication process for realizing large area conducting polymer films using in the sensing array system was also presented. A universal applicator was employed to create conducting polymer films with micro-dome structures transferred from nylon membrane filters. The micro-dome structures on the polymer film are essential for tactile sensing with high sensitivity. The proposed tactile sensing system was installed on a human-walk-assisting robot. It was demonstrated that the manipulation of the robot can be smoothly controlled by using this sensing system.