Anthropomorphic Cutaneous Tactile Sensing on Dexterous Mechanical Hands.

Abstract

The goal of this Phase II SBIR contract was to (1) design, fabricate and install ultrasonically-based tactile sensors and their associated cables on the Utah/MiT Dextrous Hand (UMDH) supplied by the Air Force, (2) develop compact tactile sensor support electronics for mounting locally, near the sensors, (3) design, construct and test a microprocessor subsystem for operating the sensors, (4) interface the micro-processor subsystem to a host Sun workstation, and (5) write software for controlling the tactile sensors and displaying "raw" sensor data. Planar and wrap-around arrays were installed on all three digit segments of the thumb and index fingers, and on the finger-tips of the remaining two digits (although these were not connected to the electronics). The sensors were designed so that they could be removed with minimal risk of damage in order to replace tendons in the digits.

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Document Details

Document Type
Technical Report
Publication Date
Aug 01, 1994
Accession Number
ADA299027

Entities

People

  • Allen R. Grahn

Tags

Communities of Interest

  • Sensors

DTIC Thesaurus Topics

  • Chemistry
  • Circuit Boards
  • Computer Programming
  • Computer Programs
  • Computers
  • Conductive Polymers
  • Debugging
  • Detectors
  • Electronics
  • Fabrication
  • Failure Mode And Effect Analysis
  • Operating Systems
  • Personal Computers
  • Printed Circuits
  • Software Development
  • Test And Evaluation
  • Transducers

Readers

  • Robotics and Automation.
  • Software Engineering
  • Trauma Surgery or Emergency Medicine.

Technology Areas

  • Microelectronics
  • Microelectronics - Microelectromechanical Systems