Multi-modal tactile sensing and feedback (tele-taction) for enhanced tele-manipulator control

Author

Caldwell, Darwin G. ; Gosney, Clarence

Author_Institution

Dept. of Electron. Eng., Salford Univ., UK

Volume

3

fYear

1993

fDate

26-30 Jul 1993

Firstpage

1487

Abstract

Describes the development of a multi-sensor tactile digit. This instrumented finger has the ability to detect contact pressure/force, hardness, texture, temperature, slip, surface profile/shape, and thermal conductivity. This information is subsequently transferred directly from the robot to the skin of the remote operator using tactile feedback units based on piezo, vibro and thermal effects. This multipurpose human-machine interface (tele-taction) provides the user with an enhanced degree of true feel for a grasped object

Keywords

tactile sensors; contact pressure; enhanced tele-manipulator control; feel; force; grasped object; hardness; instrumented finger; multi-sensor tactile digit; multimodal tactile sensing; multipurpose human-machine interface; piezo effects; remote operator; robot; shape; skin; slip; surface profile; tactile feedback units; tele-taction; temperature; texture; thermal conductivity; thermal effects; vibrational effects; Feedback; Fingers; Instruments; Robot sensing systems; Shape; Skin; Surface texture; Temperature sensors; Thermal conductivity; Thermal force;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems '93, IROS '93. Proceedings of the 1993 IEEE/RSJ International Conference on

Conference_Location

Yokohama

Print_ISBN

0-7803-0823-9

Type

conf

DOI

10.1109/IROS.1993.583836

Filename

583836