本論文利用改變偏差電極設計，在不同施力方向下，其電極之電容值變化間之相互關係，相較於需要複雜演算之對正電極平行電容板設計，可較直覺地得到側向力之方向。改變設計之主要目的為：改善先前設計中其側向力角度判斷之運算較為複雜之情形，並且更進一步實現「可檢測側向力施力角度」之透明可撓觸覺感測器，以應用於廣告面板之操作。本感測器可應用於可撓式顯示器、人工皮膚或其他具有曲面之應用場合。
　　本研究中所完成之感測器，除正向力、x軸與y軸側向力感測以外，並且具備辨識「側向力角度」之能力，並藉由模擬、演算法、實驗等三種方法，對此感測器之角度量測能力進行驗證。測試施力之角度以0度、15度、30度、45度進行實驗，本論文成功完成具角度側向力之實驗。 

摘要 I
致謝 III
目錄 V
圖目錄 VIII
表目錄 XI
第一章 緒論 1
1.1 前言 1
1.2 研究動機與目標 2
1.3 文獻回顧 5
1.4 論文架構 12
第二章 觸覺感測器電極設計與模擬分析 13
2.1 平行電容板理論值推導 13
2.2 觸覺感測器偏移電極設計 15
2.3 施力方向及大小與電容值變化之關係 19
2.4 模擬與概念驗證 24
2.4.1 正向力之模擬圖 26
2.4.2 側向0o施力 27
2.4.3 側向15o施力 29
2.4.4 側向30o施力 31
2.4.5 側向45o施力 33
2.5 驗證側向力角度之數學式推導 35
2.6 小結 36
第三章 元件之製程與結果 38
3.1 元件製作流程 38
3.2 上下層電極製作 40
3.3 PDMS結構層 44
3.4 UV膠黏合 48
3.5 層狀結構之對準與黏合 49
3.6 結果與討論 54
第四章 量測與結果 55
4.1 數位電容感測IC 55
4.2 控制器與多工器 57
4.3 量測設備與資料傳輸 58
4.4 力量量測設備及量測平台架設 59
4.5 量測結果 60
4.6 演算法誤差原因 68
4.7 對準結果誤差造成之影 響 70
4.8 結果與討論 72
第五章 結論與未來工作 74
5.1 結論 74
5.2 未來工作 75
參考文獻 76

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