DocumentCode
3223795
Title
A haptic system for a multifingered hand
Author
Stansfield, S.A.
Author_Institution
Sandia Nat. Lab., Albuquerque, NM, USA
fYear
1991
fDate
9-11 Apr 1991
Firstpage
658
Abstract
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
Keywords
artificial intelligence; robots; JPL/Stanford robot hand; PUMA 560; active robotic touch perception system; haptic exploratory procedures; haptic system; intelligent robotic system; joint torque sensing; kinesthetic information; multifingered hand; tactile information; wrist force/torque sensor; Data mining; Fingers; Haptic interfaces; Intelligent robots; Intelligent sensors; Intelligent systems; Robot sensing systems; Sensor arrays; Torque; Wrist;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location
Sacramento, CA
Print_ISBN
0-8186-2163-X
Type
conf
DOI
10.1109/ROBOT.1991.131658
Filename
131658
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