Tactile-Sensing Techniques Applicable for Telerobots
Abstract
Advancements in sensor transduction, signal processing, and information-ex-traction and analysis techniques have significantly increased the repertoire of robotic and telerobotic systems. to date, activity in robot sensor research has focused predominantly upon developing machine-vision and visual-image processing capabilities. However, experience, both in industry and the laboratory, have clearly underscored the need for comprehensive and mutually supportive sensory feedback to effectively control automata. Thus, the following concerns have prodded greater efforts for developing proximity, force/torque, and contact sensors: 1) Mounting demand for improved robotic end-effector prehension and dexterity; 2) Operational environments that frequently provide degraded or confusing visual stimuli; and 3) Limitations in the information that even the most competent vision systems can provide. This document covers the roles for tactile sensors in current and future applications for manipulanda, and reviews criteria previously used as performance benchmarks for tactile-sensing systems. It also summarizes capabilities of existing commercial and prototype tactile sensors, and points to areas of research and development that warrant further attention. Keywords: Conductive elastomers, Sensor transduction, Transduction methods, Contact-switch Devices, Piezoresistive devices, Piezoelectric devices, Capacitive devices, Magnetic devices, Photomodulation devices, Information extraction.
Document Details
- Document Type
- Technical Report
- Publication Date
- Jan 01, 1988
- Accession Number
- ADA208313
Entities
People
- S. F. Wiker