Using Tactile and Visual Sensing with a Robotic Hand

Allen, Peter K.; Miller, Andrew T.; Oh, Paul Y.; Leibowitz, Brian S.

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.



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Proceedings of 1997 IEEE International Conference on Robotics and Automation, April 20-25, 1997, Albuquerque, New Mexico

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Computer Science
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November 7, 2012