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| Title: | Multifingered robotic hands : contact experiments using tactile sensors |
| Authors: | Choi, K. K.
Jiang, S.
Li, Zexiang |
| Keywords: | Multifingered robotic hands
Tactile sensors
Contact point
Motion control computer
Tactile sensing system
Contact motion control |
| Issue Date: | May-1998 |
| Citation: | IEEE International Conference on Robotics and Automation, Leuven, Belgium, 16-20 May, 1998, vol. 3, p. 2268-2273 |
| Abstract: | Capacitive tactile sensors are constructed and installed to the fingers of the HKUST hands for measurement of position, force and direction of principle curvature of contact point. The hardware and software for signal processing are designed such that the contact information is sent to the motion control computer in real time. Experiments in rolling and sliding contact motions are then performed for testing the functionality of the tactile sensing system in motion control. The measurement of contact velocities obtained from the sensor is also compared with that calculated from the theoretical contact equations. This paper describes the tactile sensing system and the experimental result in contact motion control. |
| Rights: | © 1998 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE. This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder. |
| URI: | http://hdl.handle.net/1783.1/2070 |
| Appears in Collections: | ECE Conference Papers
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| 1_6multif.pdf | pre-published version | 680Kb | Adobe PDF | View/Open |
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