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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.
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