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A tactile sensor system for a three-fingered robot manipulator

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3 Author(s)
Jockusch, J. ; Dept. of Comput. Sci., Bielefeld Univ., Germany ; Walter, J. ; Ritter, H.

Tactile sensor systems are an essential prerequisite for the implementation of complex manipulation and exploration tasks using robots. The desire to perform real-time control and pattern recognition with tactile sensors led us to the design of a cost-effective artificial fingertip. At our laboratory two distinct types of sensors are in use: force/position sensors and slippage detectors. We report on first experimental results with a fingertip prototype performing rolling and sliding movements over a flat surface. To facilitate experimentation with tactile sensors, we designed and developed a data acquisition and transportation system that fulfils our demands on bandwidth, flexibility, and cost. This system consists of two hardware components, a configurable multichannel analog signal sampler to acquire sensor data, and an intelligent dual-ported random-access buffer to avoid data transportation bottlenecks

Published in:

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on  (Volume:4 )

Date of Conference:

20-25 Apr 1997

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