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
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;
Conference_Titel :
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location :
Minneapolis, MN
Print_ISBN :
0-7803-2988-0
DOI :
10.1109/ROBOT.1996.509203
