Accession Number : ADA254408


Title :   Tactile Sensing and Control in Humans and Robotic/Teleoperated Systems


Descriptive Note : Final rept.


Corporate Author : STANFORD UNIV CA DEPT OF MECHANICAL ENGINEERING


Personal Author(s) : Cutkosky, Mark R ; Howe, Robert ; Johansson, Roland ; Westling, Goran ; Edin, Benoni


Full Text : https://apps.dtic.mil/dtic/tr/fulltext/u2/a254408.pdf


Report Date : 04 Aug 1992


Pagination or Media Count : 9


Abstract : The most significant result of the Stanford/Harvard/Umea collaboration is a promising new approach to grasp force control in manipulation with robots and teleoperators. Experiments at Umea showed that human subjects control grasp forces and apply manipulation strategies using information from fast-acting (FAI and FAII) tactile afferents which signal events such as the onset of slipping between the fingers and a grasped object. An information exchange between Umea and Stanford led to experiments that demonstrated that the output of these FAI and FAII sensors is occasionally accompanied by small, but detectable, redistributions in the tangential contact forces between the fingertips of the human subjects and the objects that they were grasping. Dynamic tactile sensors, specifically the skin acceleration and the stress rate sensors, were developed at Stanford for robotic and teleoperated hands to provide information similar to the human PA sensors. Triggering off the microslip information provided by these sensors, a manipulator's force control algorithm can then quickly adjust the grasp force so that no gross sliding occurs. Tactile sensing, robotics, physiology, dextrous manipulation, teleoperation.


Descriptors :   *ROBOTICS , *INFORMATION EXCHANGE , *TELEOPERATORS , ALGORITHMS , HUMANS , ACCELERATION , RATES , PHYSIOLOGY , SLIDING , FINGERS , APPROACH , HANDS , EXCHANGE , SIGNALS , ROBOTS , DYNAMICS , OUTPUT , CONTROL


Subject Categories : Information Science
      Computer Programming and Software


Distribution Statement : APPROVED FOR PUBLIC RELEASE