Title :
Multi-sensor system for an articulated robotic hand
Author :
Hou, E.S.H. ; Sucahyo, N.
Author_Institution :
Dept. of Electr. & Comput. Eng., New Jersey Inst. of Technol., Newark, NJ, USA
Abstract :
How a sensor system equipped with fingertip sensors and strain gauges can provide proper feedback to drive the grasp kinematics of an articulated robotic hand is discussed. The grasp kinematics that provide the robotic hand with precision and dexterity are based on impedance control. The fingertip sensor and the strain gauges are designed with piezoresistive materials for force transduction. Through optimization based on the sensitivity and capability of the sensors, a synergism of force and contact information can be obtained to achieve precise control and dexterous manipulation of the robotic hand
Keywords :
force control; kinematics; piezoelectric devices; robots; strain gauges; articulated robotic hand; dexterity; fingertip sensors; force transduction; grasp kinematics; impedance control; multisensor system; optimization; piezoelectric transducers; sensitivity; strain gauges; Capacitive sensors; Drives; Feedback; Force control; Force sensors; Impedance; Kinematics; Piezoresistance; Robot sensing systems; Sensor systems;
Conference_Titel :
Industrial Electronics Society, 1990. IECON '90., 16th Annual Conference of IEEE
Conference_Location :
Pacific Grove, CA
Print_ISBN :
0-87942-600-4
DOI :
10.1109/IECON.1990.149214
