機械式手套是一種可以穿戴於手上的人機介面，人們可以藉由機械式手套的操作來和虛擬環境中的物體作交互作用，並且可從此機制感覺到虛擬物體的特性。在本文中採取一帶驅動機械式手套來作控制，因鋼索在高拉力拉緊時，會造成鋼索的變形，以致影響手套關節角度的計算，故在手套各關節處，增裝了電位計( potentiometer )感測器，以便可直接量取關節的角度位置。
為了藉由此人機介面將抓取虛擬物體的感覺表現於操作者，在此建立阻抗控制的控制模式。此種控制法則配合上此介面的結構一共結合了滑動模糊控制理論、餘贅原理、力矩解析法則，以及以PI 為架構之張力控制器在工作空間中作控制。除此之外，本論文採用應變規( strain gauge )來量測鋼索張力作為張力控制的依據，以力量感測電阻 ( force sensing resistor ) 來量測外力，並且利用電位計來量測關節角度。因此文章中將提及應變規、力量感測電阻與電位計的校正過程及其機械和電子配件的設計方法。
最後，以實驗驗證張力控制器和阻抗控制器的性能，其中實驗包含了鋼索預張力控制、關節轉矩追蹤控制、路徑追蹤控制、機械式手套在自由空間中的操作及手套在非自由空間中的操作，以及以軟體 World Tool Kit 建立虛擬實境並配合上機械式手套之控制來模擬觸碰及抓取物體的過程。

The hand master is a haptic interface that can be worn on the human hand. The operator can interact with the virtual environment and “feel” the characteristics of virtual objects. The hand master proposed herein is driven by the tendons. Tendons are deformed under high pulling forces which yield imprecision in the joint angles. Therefore, a potentiometer sensor is installed in every joint of the hand master to measure the joint angle directly.
The robust impedance control law is developed to realize the concept of “feel” when interacting with the virtual object. The proposed control law is based upon the structure of the hand master and involves the sliding mode control, fuzzy logic control, redundant analysis, torque resolver and the tendon tension control using a PI based controller. This control law produces fuzzy sliding impedance control in the operational space of the tendon-driven manipulator. Sensor calibration processes are also developed as strain gauges measure the tendon tensions; the force-sensing resistors are used to measure the external forces acting on the fingertips of the hand master; potentiometers measure the joint angles of the hand master.
Finally, the theoretical results are experimentally verified to demonstrate the capabilities of the tension and impedance controllers. Specific experimental demonstrations include the pretension control, the torque tracking control, the path tracking control, unconstrained operation of the hand master, and constrained operation of the hand master. Furthermore, the World Tool Kit software is utilized to construct a virtual hand and a virtual object and combine them with the real hand master to provide a virtual environment for the operator to manipulate a virtual entity.

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