DocumentCode
339541
Title
Active haptic perception and control of its fixation
Author
Emura, Satoru ; Tachi, Susumu
Author_Institution
NTT Cyber Space Labs., Japan
Volume
2
fYear
1999
fDate
1999
Firstpage
976
Abstract
A computational approach is applied to the problem of controlling fixation of haptic perception during general motion. Estimation of hardness and curvatures of the environment from a single pressure image is shown to be ill-posed, and an active observation is demonstrated making the estimation well-posed. Also proposed is an algorithm for haptic servoing for the active finger-pad to fix its high-resolution region on the surface of contact
Keywords
haptic interfaces; manipulator kinematics; mechanical contact; pressure control; servomechanisms; tactile sensors; active finger-pad; active haptic perception; contact mechanics; contact surface; fixation control; haptic servoing; kinematics; pressure image; robot manipulator; Distributed computing; Haptic interfaces; Humans; Motion analysis; Motion control; Robot sensing systems; Sensor arrays; Shape; Skin; Tactile sensors;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location
Detroit, MI
ISSN
1050-4729
Print_ISBN
0-7803-5180-0
Type
conf
DOI
10.1109/ROBOT.1999.772437
Filename
772437
Link To Document