A haptic system for a multifingered hand

Stansfield, S. A.

doi:10.1109/robot.1991.131829

Title: A haptic system for a multifingered hand

Conference · Tue Aug 06 00:00:00 EDT 2002 · Proceedings. 1991 IEEE International Conference on Robotics and Automation

DOI:https://doi.org/10.1109/robot.1991.131829· OSTI ID:6234031

Stansfield, S. A. ^[1]

Sandia National Laboratories (SNL-NM), Albuquerque, NM (United States)

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.

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Research Organization:: Sandia National Lab. (SNL-NM), Albuquerque, NM (United States)

Sponsoring Organization:: USDOE

DOE Contract Number:: AC04-76DP00789

OSTI ID:: 6234031

Report Number(s):: SAND-90-2001C; CONF-910451-1; ON: DE90017044

Journal Information:: Proceedings. 1991 IEEE International Conference on Robotics and Automation, Conference: IEEE Robotics and Automation Conference, Sacramento, CA (United States), 7-12 Apr 1991; Related Information: Chapter in the book titled "Proceedings. 1991 IEEE International Conference on Robotics and Automation"

Publisher:: IEEE

Country of Publication:: United States

Language:: English

References (14)

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42 ENGINEERING
99 GENERAL AND MISCELLANEOUS
MAN-MACHINE SYSTEMS
FEEDBACK
MANIPULATORS
REMOTE SENSING
ROBOTS
PERFORMANCE TESTING
ARTIFICIAL INTELLIGENCE
COMPUTERIZED CONTROL SYSTEMS
DATA ACQUISITION SYSTEMS
ELASTICITY
FINGERS
HANDS
HARDNESS
IMAGE PROCESSING
LIGHTING SYSTEMS
MECHANICAL PROPERTIES
PATTERN RECOGNITION
SENSITIVITY
SURFACE PROPERTIES
VISION
BODY
BODY AREAS
CONTROL SYSTEMS
ENERGY SYSTEMS
EQUIPMENT
LABORATORY EQUIPMENT
LIMBS
MATERIALS HANDLING EQUIPMENT
PROCESSING
REMOTE HANDLING EQUIPMENT
TENSILE PROPERTIES
TESTING
420203* - Engineering- Handling Equipment & Procedures
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Title: A haptic system for a multifingered hand

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References (14)

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