A full tactile sensing suite for dextrous robot hands and use in contact force control
نویسندگان
چکیده
A full tactile sensing suite for the nger segments and palm of the Utah/MIT Dextrous Hand is presented. The rubber-based sensors employ capaci-tance sensing and oating electrodes in the top layer, and contain local electronics for excitation, ltering, 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.
منابع مشابه
A Full Tactile Sensing Suite for Dextrous Robot Hands and Use in Contact Force Control - Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
A full tactile sensing suite f o r 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 fo r excitation, filtering, analog-to-dzgital conversion, and serial commzanication. Experimental results on statzc, dynamic, and spatial properties are presented. U...
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