• DocumentCode
    2186902
  • Title

    A full tactile sensing suite for dextrous robot hands and use in contact force control

  • Author

    Johnston, David ; Zhang, Ping ; Hollerbach, John ; Jacobsen, Stephen

  • Author_Institution
    Center for Eng. Design, Utah Univ., Salt Lake City, UT, USA
  • Volume
    4
  • fYear
    1996
  • fDate
    22-28 Apr 1996
  • Firstpage
    3222
  • Abstract
    A full tactile sensing suite for the finger segments and palm of the Utah/MIT dextrous hand is presented. The rubber-based sensors employ capacitance sensing and floating electrodes in the top layer, and contain local electronics for excitation, filtering, analog-to-digital conversion, and serial communication. Experimental results on static, dynamic, and spatial properties are presented. Use of the tactile sensor in contact force control is demonstrated
  • Keywords
    dynamics; force control; manipulators; mechanical contact; tactile sensors; A/D conversion; Utah/MIT dextrous hand; capacitance sensing; contact force control; dextrous robot hands; filtering; floating electrodes; rubber-based tactile sensors; tactile sensing suite; Cities and towns; Electrodes; Fingers; Force control; Intelligent sensors; Laboratories; Prototypes; Robot sensing systems; Sensor arrays; Tactile sensors;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
  • Conference_Location
    Minneapolis, MN
  • ISSN
    1050-4729
  • Print_ISBN
    0-7803-2988-0
  • Type

    conf

  • DOI
    10.1109/ROBOT.1996.509203
  • Filename
    509203
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2186902