A haptic system for a multifingered hand

A haptic system for a multifingered hand

A series of haptic exploratory procedures (EPs) implemented for a multifingered, articulated, sensory robot hand is discussed. These EPs are designed to extract specific tactile and kinesthetic information from an object via their purposive invocation by an intelligent robotic system. Taken together...

Ausführliche Beschreibung

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Bibliographische Detailangaben
1. Verfasser: Stansfield, S.A.
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Data mining
Fingers
Haptic interfaces
Intelligent robots
Intelligent sensors
Intelligent systems
Robot sensing systems
Sensor arrays
Torque
Wrist
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Beschreibung
Zusammenfassung:A series of haptic exploratory procedures (EPs) implemented for a multifingered, articulated, sensory robot hand is discussed. These EPs are designed to extract specific tactile and kinesthetic information from an object via their purposive invocation by an intelligent robotic system. Taken together, they form an active robotic touch perception system. This system utilizes a PUMA 560 robot arm, a JPL/Stanford robot hand with joint torque sensing in the fingers, a wrist force/torque sensor, and a 256-element spatially resolved fingertip tactile array. The EPs are described, and experimental results are given.< >
DOI:10.1109/ROBOT.1991.131658