Title :
A haptic system for a multifingered hand
Author :
Stansfield, S.A.
Author_Institution :
Sandia Nat. Lab., Albuquerque, NM, USA
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;
Conference_Titel :
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location :
Sacramento, CA
Print_ISBN :
0-8186-2163-X
DOI :
10.1109/ROBOT.1991.131658
