Contact Sensing from Force Measurements
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 p...
| Main Authors: | , , |
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| Language: | en_US |
| Published: |
2004
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| Subjects: | |
| Online Access: | http://hdl.handle.net/1721.1/5996 |
| _version_ | 1811092911333310464 |
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| author | Bicchi, Antonio Salisbury, J. Kenneth Brock, David L. |
| author_facet | Bicchi, Antonio Salisbury, J. Kenneth Brock, David L. |
| author_sort | Bicchi, Antonio |
| collection | MIT |
| 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. |
| first_indexed | 2024-09-23T15:34:28Z |
| id | mit-1721.1/5996 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T15:34:28Z |
| publishDate | 2004 |
| record_format | dspace |
| spelling | mit-1721.1/59962019-04-12T08:28:24Z Contact Sensing from Force Measurements Bicchi, Antonio Salisbury, J. Kenneth Brock, David L. contact sensing contact mechanics dextrous manipulation 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. 2004-10-04T14:25:41Z 2004-10-04T14:25:41Z 1990-10-01 AIM-1262 http://hdl.handle.net/1721.1/5996 en_US AIM-1262 31 p. 3825132 bytes 1449587 bytes application/postscript application/pdf application/postscript application/pdf |
| spellingShingle | contact sensing contact mechanics dextrous manipulation Bicchi, Antonio Salisbury, J. Kenneth Brock, David L. Contact Sensing from Force Measurements |
| title | Contact Sensing from Force Measurements |
| title_full | Contact Sensing from Force Measurements |
| title_fullStr | Contact Sensing from Force Measurements |
| title_full_unstemmed | Contact Sensing from Force Measurements |
| title_short | Contact Sensing from Force Measurements |
| title_sort | contact sensing from force measurements |
| topic | contact sensing contact mechanics dextrous manipulation |
| url | http://hdl.handle.net/1721.1/5996 |
| work_keys_str_mv | AT bicchiantonio contactsensingfromforcemeasurements AT salisburyjkenneth contactsensingfromforcemeasurements AT brockdavidl contactsensingfromforcemeasurements |