By Topic

A haptic system for a multifingered hand

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

1 Author(s)
Stansfield, S.A. ; Sandia Nat. Lab., Albuquerque, NM, USA

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

Published in:

Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on

Date of Conference:

9-11 Apr 1991