目前軟性觸覺感測器大多仍著重於平面下量測結果，對軟性觸覺感測器來說，能於不同曲面下操作為一大優勢。雖然已有文獻分析電容式軟性觸覺感測器於曲面下施力操作情形，但在相同施力下，電容值與曲率半徑間的關係尚未釐清。因此本研究製作一電容式軟性觸覺感測器，首先針對元件在不同曲率半徑下做容忍度分析，了解元件材料破壞點及元件在不同曲面下初始電容及曲率半徑之間的關係，再將元件操作於不同曲面下，找出元件在不同曲率半徑下，電容值與施力大小之關係，以便了解元件於曲面操作時，可操作之範圍及電容值變化的趨勢。
本研究所製作之觸覺感測器以PET、PDMS等可撓性材料為基板與結構層，ITO為電極材料。量測時，採用客製化之力學測試機台進行彎曲測試，並使用電壓電容轉換器，進行元件電容值之量測；曲面施力操作部分，使用不同半徑之壓克力半圓當背板做支撐，並以力規施力，找出不同曲率半徑下施力大小與電容值關係，最後探討實驗結果並與模擬結果比較。

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