Contact Sensing from Force Measurements

dc.creator	Bicchi, Antonio
dc.creator	Salisbury, J. Kenneth
dc.creator	Brock, David L.
dc.date	2004-10-04T14:25:41Z
dc.date	2004-10-04T14:25:41Z
dc.date	1990-10-01
dc.date.accessioned	2013-10-09T02:42:20Z
dc.date.available	2013-10-09T02:42:20Z
dc.date.issued	2013-10-09
dc.identifier	AIM-1262
dc.identifier	http://hdl.handle.net/1721.1/5996
dc.identifier.uri	http://koha.mediu.edu.my:8181/xmlui/handle/1721
dc.description	This paper addresses contact sensing, i.e. the problem of resolving the location of a contact, the force at the interface and the moment about the contact normals. Called "intrinsic'' contact sensing for the use of internal force and torque measurements, this method allows for practical devices which provide simple, relevant contact information in practical robotic applications. Such sensors have been used in conjunction with robot hands to identify objects, determine surface friction, detect slip, augment grasp stability, measure object mass, probe surfaces, control collision and a variety of other useful tasks. This paper describes the theoretical basis for their operation and provides a framework for future device design.
dc.format	31 p.
dc.format	3825132 bytes
dc.format	1449587 bytes
dc.format	application/postscript
dc.format	application/pdf
dc.language	en_US
dc.relation	AIM-1262
dc.subject	contact sensing
dc.subject	contact mechanics
dc.subject	dextrous manipulation
dc.title	Contact Sensing from Force Measurements

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