目前雙足機器人於不平坦地形之運動控制不甚容易，需獲得外部特徵資訊，方能修正姿態平衡控制。本研究開發3×5 陣列式軟性觸覺感測器應用於人形機器人之雙足，此感測器以創新之結構化電極概念並於外層包覆一彈性材料，建構出具辨認動態正向力之壓力感測器，有別於一般壓阻式或電容式作為雙足機器人平衡與步態控制研究之壓力感測器。本研究使用微機電製程設計製作微電極於軟性電路板上，將以三明治結構方式結合壓電材料，並於此結構表面黏接以矽橡膠製作完成之微結構，之後將聚雙甲基矽氧烷灌注封裝，以完成感測器之製作。欲驗證此感測器之靈敏度，本實驗以激振器與力規作為動態週期性的微小力之觸發源與力量校正，經實驗結果可測量出施加之正向力與輸出訊號於0.2至9牛頓呈一線性上升趨勢，進而計算出本研究開發雙足機器人壓力感測器之靈敏度約為41.96mV/N。3×5陣列式軟性觸覺感測器，安裝於人形機器人之雙足，經由電腦訊號模組，將可即時顯示出動態變化時之壓力強度及壓力空間分佈形態，透過以上所獲
得之外部特徵資訊，將可進一步計算獲得零力矩點。未來將利用此壓力感知，以即時修正雙足機器人之行進姿態。

Controlling the balance of motion in a context involving a biped robot navigating a rugged surface or a step is a difficult task. In the present study, a 3 by 5 flexible tactile sensor array was developed to assist in improving the acuity of a foot pressure map of a biped robot. We introduced an innovative concept involving structural electrodes upon a piezoelectric film in order to detect variations in pressure, which is
unlike piezoresistive-type and capacitive-type pressure sensors used in conventional pressure mapping systems. The tactile sensor consisted of a polymer piezoelectric film, PVDF, between two patterned flexible print circuit substrates (FPC). Additionally, a silicon rubber microstructure was attached to the FPC and covered by a polydimethylsiloxane (PDMS) layer. Experimental results showed that the output signal of the sensor exhibited a linear behavior within 0.2 N ~ 9 N while its sensitivity
was approximately 41.96 mV/N. According to the characteristic of the tactile sensor, we designed the readout module for an in-situ display of the pressure magnitudes and distribution within 3 by 5 taxels. Furthermore, the zero moment point (ZMP) also can be calculated by this program. Consequently, our tactile sensor module can provide the pressure map and ZMP information to in-situ feedback control the balance of moment
for a biped robot.