Tactile Gloves for Autonomous Grasping With the NASA/DARPA Robonaut

Abstract

Tactile data from rugged gloves are providing the foundation for developing autonomous grasping skills for the NASA/DARPA Robonaut, a dexterous humanoid robot. These custom gloves compliment the human like dexterity available in the Robonaut hands. Multiple versions of the gloves are discussed, showing a progression in using advanced materials and construction techniques to enhance sensitivity and overall sensor coverage. The force data provided by the gloves can be used to improve dexterous, tool and power grasping primitives. Experiments with the latest gloves focus on the use of tools, specifically a power drill used to approximate an astronaut's torque tool.

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Document Details

Document Type
Technical Report
Publication Date
Apr 01, 2004
Accession Number
ADA438799

Entities

People

  • M. A. Diftler
  • M. J. Butzer
  • R. O. Ambrose
  • R. Platt Jr.
  • T. B. Martin

Organizations

  • University of Massachusetts Amherst

Tags

Communities of Interest

  • Autonomy
  • Sensors

DTIC Thesaurus Topics

  • Assembly
  • Automation
  • Computer Science
  • Control Systems
  • Data Acquisition
  • Demographic Cohorts
  • Earth Orbits
  • High Pressure
  • Information Processing
  • Low Earth Orbits
  • Materials
  • Measurement
  • Quantum Tunneling
  • Robots
  • Simulations
  • Space Systems
  • Voltage Dividers

Readers

  • Computational Fluid Dynamics (CFD)
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy
  • Space
  • Space - Spacecraft Maneuvers