Using Tactile and Visual Sensing with a Robotic Hand

Articles:

Title:: Using Tactile and Visual Sensing with a Robotic Hand
Author(s):: Allen, Peter K.
Miller, Andrew T.
Oh, Paul Y.
Leibowitz, Brian S.
Date:: 1997
Type:: Articles
Department:: Computer Science
Permanent URL:: http://hdl.handle.net/10022/AC:P:15218
Book/Journal Title:: Proceedings of 1997 IEEE International Conference on Robotics and Automation, April 20-25, 1997, Albuquerque, New Mexico
Publisher:: IEEE
Publisher Location:: Piscataway, N.J.
Abstract:: Most robotic hands are either sensorless or lack the ability to accurately and robustly report position and force information relating to contact. This paper describes a robotic hand system that uses a limited set of native-joint position and force sensing along with custom-designed tactile sensors and real-time vision modules to accurately compute finger contacts and applied forces for grasping tasks. Three experiments are described: integration of real-time visual trackers in conjunction with internal strain gauge sensing to correctly localize and compute finger forces, determination of contact points on the inner and outer links of a finger through tactile sensing and visual sensing, and determination of vertical displacement by tactile sensing for a grasping task.
Subject(s):: Robotics
DOI:: http://dx.doi.org/10.1109/ROBOT.1997.620114