NICOP - Tactile sensing and feedback for grip security
Abstract
Grasping and lifting arbitrary objects using robotic grippers is a difficult task, as most grippersdo not have any tactile feedback""; those which do usually only measure grip forces, or detect theobject sliding from the grasp. This project aims to develop two tac""tile sensors: one which sensesthe friction when the object is grasped, and another which allows and subsequently detects theearly" stages of slip. Grip-force control algorithms will then be developed to control how tightlythe object is gripped based on information from these new sensors. We will also convey thistactile information to a remote human operator so they may assist in the grippi"ng task. Therelevance to ONR Global is the opportunity to improve the dexterity of unmanned submersibles,possibly engaged neutrali"zation of underwater ordinance. There are currently no US or overseascollaborators involved in this project. The desired outcomes are the construction and evaluationof a prototype system which marries friction-based tactile sensors with grip-force control forre"mote manipulation. And furthermore, to include a human operator in the control loop, byconveying tactile information to them in an" easy to understand way. Additional outputs from theresearch will include a number of scientific journal publications and conferenc"e presentations,detailing the design and evaluation of the proposed friction-based grip-force control systems.
Document Details
- Document Type
- DoD Grant Award
- Publication Date
- Jan 23, 2018
- Source ID
- N629091812048
Entities
People
- Stephen Redmond
Organizations
- Office of Naval Research
- United States Navy
- University of New South Wales