近年來，如何利用自動化的機械手來操縱物體 並完成我們所需要的任務受到很大的矚目。因為當前的機器人缺乏像人類一般的彈性和智慧去應付各種臨場狀況的改變，相關領域的研究人員一直想要在這方面賦予機械手更多的自主性，尤其在插銷操作方面，被操縱的物體必須擁有相當的順應性來減少物體與環境之間的碰撞，如何利用機械手實現物體的順應性插銷作業是一個非常有趣的問題，它需要整合各方面的研究領域，包括機器視覺、影像處理、力覺回饋，以及擬定適當的自動化操作策略，來實現其順應性。
　　在本篇論文的研究當中，發展了結合視覺與力覺的自動化插銷操作策略，利用視覺與力覺的資訊不只被用來擬定抓取與操作的方式，同時可加強物體的順應性控制。本實驗的研究平台為一個五個自由度的鋼索驅動式機械手指,為了控制物體的順應性，建立了在手指關節空間中的模糊滑動阻抗控制器，也充分提出了相關的滾動接觸操作模式及物體與關節角之間的順應轉換關係來完成我們所需要的自動化任務。

　Autonomous manipulation has attracted signi-ficant interest recently. Since the current robot manipulation systems lack human flexibility and intelligence, researchers in this field want to impart more autonomous characteristics to the ro-bot hand. During peg-in-hole assembly, the mani-pulated object must have appropriate comp-liance characteristics to reduce the interaction force between the object and the environment. Realizing object compliance with a multi-fingered hand and autonomous manipulation for the peg-in-hole task is an interesting field of study, which inte-grates many technologies, including machine vi-sion, image processing, visual-force integration, manipulation skill development and compliance characteristic realizations.
　This study develops autonomous manipulation peg-in-hole assembly techniques combining visual and force sensing. The vision and force infor-mation are integrated not only to ensure auto-nomous grasp and manipulation synthesis, but also to reinforce compliance control of the object. The 5-dof tendon-driven robot hand developed in our laboratory is used as a test bed for the ex-periments. To control the object compliance, a novel fuzzy sliding mode impedance controller in the finger joint space is constructed, and se-veral related issues about rolling contact mani-pulation and the compliance transformation from the object to the finger joints are derived. Fi-nally, we expect that this work will establish a new basis for future study of autonomous com-pliant object manipulation.

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