Multi-sensor system for an articulated robotic hand

E. S.H. Hou, N. Sucahyo

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

How a sensor system equipped with fingertip sensors and strain gauges can provide proper feedback to drive the grasp kinematics of an articulated robotic hand is discussed. The grasp kinematics that provide the robotic hand with precision and dexterity are based on impedance control. The fingertip sensor and the strain gauges are designed with piezoresistive materials for force transduction. Through optimization based on the sensitivity and capability of the sensors, a synergism of force and contact information can be obtained to achieve precise control and dexterous manipulation of the robotic hand.

Original languageEnglish (US)
Title of host publicationSignal Processing and System Control Factory Automation
PublisherPubl by IEEE
Pages627-630
Number of pages4
ISBN (Print)0879426004
StatePublished - Dec 1 1990
Event16th Annual Conference of IEEE Industrial Electronics Society - IECON'90 - Pacific Grove, CA, USA
Duration: Nov 27 1990Nov 30 1990

Publication series

NameIECON Proceedings (Industrial Electronics Conference)
Volume1

Other

Other16th Annual Conference of IEEE Industrial Electronics Society - IECON'90
CityPacific Grove, CA, USA
Period11/27/9011/30/90

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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