Download or read book Contact Sensors for Dexterous Robotic Hands written by David Mark Siegel and published by . This book was released on 1986 with total page 242 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Skin like Multi modal Sensing Devices for Dexterous Robotic Hands written by Jooyeun Ham and published by . This book was released on 2020 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Skin-like sensing would be useful for many applications, ranging from human-friendly robots to prosthetics. However, while tactile sensors have been studied since the 1970s, they remain relatively little used in applications. The main challenges are practical: there is a need for ``electronic skins'' that are sensitive, flexible and even stretchable, and robust enough to cover the surfaces of arms and hands with many sensing elements. The devices should have high sensitivity and be multi-modal, i.e., able to report changes in normal and shear stress, as well as temperature and proximity. The sensor skins should also be low cost and robust. The goal of my thesis work is to provide skin-like cutaneous sensing ability to robotic hands. The chapters in this thesis include manufacturing techniques and materials for flexible, low-cost, lightweight, sensitive, robust, and multi-modal sensory skins. The sensors include multiaxial force/torque elements, proximity sensors, and temperature sensors. Briefly, the work presented here provides the following contributions in support of cutaneous sensing: fabrication (patterning and bonding), material (dielectric elastomer), sensing devices (multi-axial and multi-modal sensors, and sensor network), integration (soft robotic skin for manipulation with robotic hands). The first contribution concerns manufacturing techniques to fabricate sensing devices in thin films. The sensors and electrodes are created using an ultraviolet laser to ablate and cut patterns on metalized plastic film. With this computer-aided subtraction-based fabrication process, the sensors and their arrangement are easy to customize for different applications. A titanium-induced bonding technique is also introduced and shown to achieve strong bonding between an electrode and a dielectric layer. The rendered strong adhesion on the interface of the device component allows a robust capacitive sensor to withstand significant shear and rotational loads, which increases the sensor's dynamic range. Next, a material is presented to enhance the sensitivity of capacitive sensing devices. This material is afforded by a combination of a titanium-based solution and a stretchable elastomer. We observed that the titanium oxo network and silicone elastomer matrix composite have the potential to provide stretchability and adhesion for the dielectric, for a robust and sensitive device. Using the developed manufacturing techniques and materials, we next developed multi-modal sensing devices inspired by the human cutaneous sensing system. We explored capacitive multi-axial sensor designs that conform to curved surfaces, allowing them to wrap around the back and sides of a robotic hand. Each taxel measures a combination of normal, shear, and torsional stresses. With active shielding and a microstructured porous dielectric material, the sensor has a desirable combination of wide dynamic range with high resolution (i.e., 0.5 to 500 kPa in the normal direction), relative immunity to electromagnetic noise, and the ability to handle wet and slippery materials, such as tofu or Jell-O. By dynamically changing the patterns and combinations of electrodes sampled, our developed sensor can provide dynamic as well as low frequency tactile information, even when scaled to large areas. Empirical results indicate that our sensor can detect changes in grasp force and events such as making or breaking contact and the onset of linear or torsional sliding. An additional development consists of a low-cost, stretchable Kirigami sensor network for soft robotic devices. Soft robotic hands can facilitate human-robot interaction by allowing robots to grasp a wide range of objects safely and gently. However, their performance has been hampered by a lack of suitable sensors. To address this, we developed a multi-modal sensor network integrated with a soft robotic hand. The manufacturing approach uses UV laser ablation to create sensor patterns and UV laser cutting for stretchable interconnections in a Kirigami pattern. Temperature and proximity sensors are combined into a single network. We evaluated both the interconnects and sensors by measuring the impedance change to external stimuli and observed that sensor readings are not substantially affected by stretching the interconnects. We tested several interaction scenarios, including identifying hot and cold water bottles, a warm burrito for food handling, and a warm baby-like doll for future medical applications with the sensor sheet wrapped around a soft robotic gripper. Our demonstrations showed that robotic hands can have cutaneous sensing that provides robust and reliable multi-modal information. In summary, we have fabricated sensing devices and networks using laser ablation and reliable bonding techniques. The multi-axial and multi-modal cutaneous sensing devices are demonstrated on two robotic platforms. The first is a gripper that manipulates a variety of fragile and slippery foods. The second is a soft robotic hand that measures temperature while maintaining gentle contact. Collectively, our experimental results show that feedback from the tactile sensors enables robots to identify contact stimuli in support of an improved understanding of objects and the environment with which they are interacting.

Download or read book Contact Sensors for Dextrous Robotic Hands written by David M. Siegel and published by . This book was released on 1986 with total page 138 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis examines a tactile sensor and a thermal sensor for use with the Utah-MIT dexterous four fingered hand. Sensory feedback is critical for full utilization of its advanced manipulatory capabilities. The hand itself provides tendon tenions and joint angles information. However, planned control algorithms require more information than these sources can provide. The tactile sensor utilizes capacitive transduction with a novel design based entirely on silicone elastomers. It provides an 8x8 array of force cells with 1.9 mm center-to-center spacing. A pressure resolution of 8 significant bits is available over a 0 to 200 grams per square mm range. The thermal sensor measures a material's heat conductivity by radiating heat into an object and measuring the resulting temperature variations. This sensor has a 4x4 array of temperature cells with 3.5 mm center-to-center spacing. Experiments show that the thermal sensor can discriminate among material by detecting differences in their thermal conduction properties. Both sensors meet the stringent mounting requirements posed by the Utah-MIT hand. Combining together to form a sensor with both tactile and thermal capabilities will ultimately be possible. Keywords: computer architecture; requirements.

Download or read book Tactile Sensing Skill Learning and Robotic Dexterous Manipulation written by Qiang Li and published by Academic Press. This book was released on 2022-04-02 with total page 374 pages. Available in PDF, EPUB and Kindle. Book excerpt: Tactile Sensing, Skill Learning and Robotic Dexterous Manipulation focuses on cross-disciplinary lines of research and groundbreaking research ideas in three research lines: tactile sensing, skill learning and dexterous control. The book introduces recent work about human dexterous skill representation and learning, along with discussions of tactile sensing and its applications on unknown objects' property recognition and reconstruction. Sections also introduce the adaptive control schema and its learning by imitation and exploration. Other chapters describe the fundamental part of relevant research, paying attention to the connection among different fields and showing the state-of-the-art in related branches. The book summarizes the different approaches and discusses the pros and cons of each. Chapters not only describe the research but also include basic knowledge that can help readers understand the proposed work, making it an excellent resource for researchers and professionals who work in the robotics industry, haptics and in machine learning. - Provides a review of tactile perception and the latest advances in the use of robotic dexterous manipulation - Presents the most detailed work on synthesizing intelligent tactile perception, skill learning and adaptive control - Introduces recent work on human's dexterous skill representation and learning and the adaptive control schema and its learning by imitation and exploration - Reveals and illustrates how robots can improve dexterity by modern tactile sensing, interactive perception, learning and adaptive control approaches

Download or read book In Hand Object Localization and Control Enabling Dexterous Manipulation with Robotic Hands written by Martin Pfanne and published by Springer Nature. This book was released on 2022-08-31 with total page 213 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book introduces a novel model-based dexterous manipulation framework, which, thanks to its precision and versatility, significantly advances the capabilities of robotic hands compared to the previous state of the art. This is achieved by combining a novel grasp state estimation algorithm, the first to integrate information from tactile sensing, proprioception and vision, with an impedance-based in-hand object controller, which enables leading manipulation capabilities, including finger gaiting. The developed concept is implemented on one of the most advanced robotic manipulators, the DLR humanoid robot David, and evaluated in a range of challenging real-world manipulation scenarios and tasks. This book greatly benefits researchers in the field of robotics that study robotic hands and dexterous manipulation topics, as well as developers and engineers working on industrial automation applications involving grippers and robotic manipulators.

Download or read book Contact Sensors for Dextrous Robotic Hands written by David Mark Siegel and published by . This book was released on 1983 with total page 123 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Intelligent Sensor Based Manipulation with Robotic Hands written by and published by . This book was released on 1998 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Our hand research has focused on enhancing the dexterity of robotic hands and understanding the nature of dexterous manipulation. The premise of the research is that incorporating task level understanding into a manipulation system simplifies robot planning and increases autonomy. The study of task level strategies for dexterous manipulation has led to development of several novel techniques for controlling the fingertip forces during manipulation and fingertip motion planning. The insights into increased autonomy have led to the development of a novel technique for teleoperating robot hands. The traditional technique of teleoperating a robot hand is to use a Dataglove or exoskeleton master; there is a direct mapping from the human hand to the robot hand. This approach has several limitations which we have addressed by using a simpler control interface with a joystick or keyboard. Enhancing the robot hand's autonomy allows for simpler control strategies and gives it greater functionality than by traditional means. Control of the hand is shared between the user and the robot. We have developed a prototype teleoperation system using a Utah/MIT hand. Our research will ultimately have application in medicine and industry, for enhancement of prosthetic hands and the development of more complex robotic grippers.

Download or read book Tactile Sensors for Robotic Applications written by Salvatore Pirozzi and published by MDPI. This book was released on 2021-03-17 with total page 248 pages. Available in PDF, EPUB and Kindle. Book excerpt: The book covers different aspects: - Innovative technologies for tactile sensors development - Tactile data interpretation for control purposes - Alternative sensing technologies - Multi-sensor systems for grasping and manipulation - Sensing solutions for impaired people

Download or read book Sensor Devices and Systems for Robotics written by Alicia Casals and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 356 pages. Available in PDF, EPUB and Kindle. Book excerpt: As robots improve in efficiency and intelligence, there is a growing need to develop more efficient, accurate and powerful sensors in accordance with the tasks to be robotized. This has led to a great increase in the study and development of different kinds of sensor devices and perception systems over the last ten years. Applications that differ from the industrial ones are often more demanding in sensorics since the environment is not usually so well structured. Spatial and agricultural applications are examples of situations where the environment is unknown or variable. Therefore, the work to be done by a robot cannot be strictly programmed and there must be an interactive communication with the environment. It cannot be denied that evolution and development in robotics are closely related to the advances made in sensorics. The first vision and force sensors utilizing discrete components resulted in a very low resolution and poor accuracy. However, progress in VLSI, imaging devices and other technologies have led to the development of more efficient sensor and perception systems which are able to supply the necessary data to robots.

Download or read book Robot Tactile Sensing written by R. Andrew Russell and published by . This book was released on 1990 with total page 192 pages. Available in PDF, EPUB and Kindle. Book excerpt: This work introduces tactile sensing for those engaged in advanced, sensor-based robotics, with special reference to problems of addressing arrays of sensor elements. It describes tactile sensors to register contact, surface profile, thermal properties and other tactile sensing modes. The use of robot manipulators to provide mobility for tactile sensors, and techniques for applying tactile sensing in robotic manipulation and recognition tasks are also covered. The various applications of this technology are discussed, and robot hands and grips are detailed.

Download or read book Robot Hands And Multi fingered Haptic Interfaces Fundamentals And Applications written by Haruhisa Kawasaki and published by World Scientific. This book was released on 2015-03-04 with total page 352 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robot Hands and Multi-Fingered Haptic Interfaces is a monograph focusing on the comparison of human hands with robot hands, the fundamentals behind designing and creating the latter, and robotics' latest advancements in haptic technology.This work discusses the design of robot hands; contact models at grasping; kinematic models of constraint; dynamic models of the multi-fingered hand; the stability theorem of non-linear control systems; robot hand control; design and control of multi-fingered haptic interfaces; application systems using multi-fingered haptic interfaces; and telecontrol of robot hands using a multi-fingered haptic interface.Robot Hands and Multi-Fingered Haptic Interfaces is intended mainly for readers who have a foundation in basic robot arm engineering. To understand robot hand manipulation, readers must study kinematic constraint models of fingers, hand dynamics with constraints, stability theorems of non-linear control, and multi-fingered hand control — this book will benefit readers' understanding of this full range of issues regarding robot hand manipulation.

Download or read book Object Manipulation with Two Robotic Fingers Using Tactile Information written by Doukeni Karakatsani and published by . This book was released on 2011 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: The integration of tactile sensors in dexterous robotic hands contributes greatly to creating autonomous robots capable of interacting with their environment and manipulating various types of objects. The shape of these objects may not be previously known to the robot. In this work we realize the manipulation of unknown objects that are grasped with two fingers of the SCHUNK SDH 2 robotic hand. The fingers manipulate the object changing its orientation with the use of the tactile information provided by the fingers' tactile sensors. The different contact points in the fingertip's surface are modelled by introducing a virtual joint that adds an extra degree of freedom to each finger.

Download or read book Dextrous Robot Hands written by Subramanian T. Venkataraman and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 349 pages. Available in PDF, EPUB and Kindle. Book excerpt: Manipulation using dextrous robot hands has been an exciting yet frustrating research topic for the last several years. While significant progress has occurred in the design, construction, and low level control of robotic hands, researchers are up against fundamental problems in developing algorithms for real-time computations in multi-sensory processing and motor control. The aim of this book is to explore parallels in sensorimotor integration in dextrous robot and human hands, addressing the basic question of how the next generation of dextrous hands should evolve. By bringing together experimental psychologists, kinesiologists, computer scientists, electrical engineers, and mechanical engineers, the book covers topics that range from human hand usage in prehension and exploration, to the design and use of robotic sensors and multi-fingered hands, and to control and computational architectures for dextrous hand usage. While the ultimate goal of capturing human hand versatility remains elusive, this book makes an important contribution to the design and control of future dextrous robot hands through a simple underlying message: a topic as complex as dextrous manipulation would best be addressed by collaborative, interdisciplinary research, combining high level and low level views, drawing parallels between human studies and analytic approaches, and integrating sensory data with motor commands. As seen in this text, success has been made through the establishment of such collaborative efforts. The future will hold up to expectations only as researchers become aware of advances in parallel fields and as a common vocabulary emerges from integrated perceptions about manipulation.

Download or read book Sensors and Sensory Systems for Advanced Robots written by Paolo Dario and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 589 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume contains papers presented at the NATO Advanced Research Workshop (ARW) on "Sensors and Sensory Systems for Advanced Robots", which was held in Maratea, Italy, during the week Apri I 28 - May 3, 1986. Participants in the ARW, who came from eleven NATO and two non-NATO countries, represented an i nternat i ona I assortment of d i st i ngu i shed research centers in industry, government and academia. Purpose of the Workshop was to rev i ew the state of the art of sensing for advanced robots, to discuss basic concepts and new ideas on the use of sensors for robot control and to provide recommendations for future research in this area, There IS an almost unanimous consensus among invest i gators in the fie I d of robot i cs that the add i t i on of sensory capabi I ities represents the "natural" evolution of present industrial robots, as wei I as the necessary premise to the development of advanced robots for nonindustrial app I i cat ions. However, a number of conceptua I and techn i ca I problems sti I I challenge the practical implementation and widespread appl ication of sensor-based robot control techn i ques. Cruc i a I among those prob I ems is the ava i lab iii ty of adequate sensors.

Download or read book Human and Robot Hands written by Matteo Bianchi and published by Springer. This book was released on 2016-02-24 with total page 284 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book looks at the common problems both human and robotic hands encounter when controlling the large number of joints, actuators and sensors required to efficiently perform motor tasks such as object exploration, manipulation and grasping. The authors adopt an integrated approach to explore the control of the hand based on sensorimotor synergies that can be applied in both neuroscience and robotics. Hand synergies are based on goal-directed, combined muscle and kinematic activation leading to a reduction of the dimensionality of the motor and sensory space, presenting a highly effective solution for the fast and simplified design of artificial systems. Presented in two parts, the first part, Neuroscience, provides the theoretical and experimental foundations to describe the synergistic organization of the human hand. The second part, Robotics, Models and Sensing Tools, exploits the framework of hand synergies to better control and design robotic hands and haptic/sensing systems/tools, using a reduced number of control inputs/sensors, with the goal of pushing their effectiveness close to the natural one. Human and Robot Hands provides a valuable reference for students, researchers and designers who are interested in the study and design of the artificial hand.

Download or read book Intelligent Robotic Systems written by Spyros G. Tzafestas and published by CRC Press. This book was released on 2020-08-26 with total page 737 pages. Available in PDF, EPUB and Kindle. Book excerpt: A multiplicity of techniques and angles of attack are incorporated in 18 contributions describing recent developments in the structure, architecture, programming, control, and implementation of industrial robots capable of performing intelligent action and decision making. Annotation copyright Book

Download or read book Human Inspired Dexterity in Robotic Manipulation written by Tetsuyou Watanabe and published by Academic Press. This book was released on 2018-06-26 with total page 220 pages. Available in PDF, EPUB and Kindle. Book excerpt: Human Inspired Dexterity in Robotic Manipulation provides up-to-date research and information on how to imitate humans and realize robotic manipulation. Approaches from both software and hardware viewpoints are shown, with sections discussing, and highlighting, case studies that demonstrate how human manipulation techniques or skills can be transferred to robotic manipulation. From the hardware viewpoint, the book discusses important human hand structures that are key for robotic hand design and how they should be embedded for dexterous manipulation. This book is ideal for the research communities in robotics, mechatronics and automation. Investigates current research direction in robotic manipulation Shows how human manipulation techniques and skills can be transferred to robotic manipulation Identifies key human hand structures for robotic hand design and how they should be embedded in the robotic hand for dexterous manipulation