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A full tactile sensing suite for dextrous robot hands and use in contact force control

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4 Author(s)
Johnston, D. ; Center for Eng. Design, Utah Univ., Salt Lake City, UT, USA ; Ping Zhang ; Hollerbach, J. ; Jacobsen, S.

A full tactile sensing suite for the finger segments and palm of the Utah/MIT dextrous hand is presented. The rubber-based sensors employ capacitance sensing and floating electrodes in the top layer, and contain local electronics for excitation, filtering, analog-to-digital conversion, and serial communication. Experimental results on static, dynamic, and spatial properties are presented. Use of the tactile sensor in contact force control is demonstrated

Published in:

Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on  (Volume:4 )

Date of Conference:

22-28 Apr 1996