Cutkosky, Mark R. | Search NASA

NASA NTRS2016

Grippers Based on Opposing Van Der Waals Adhesive Pads

Novel gripping structures based on van der Waals adhesive forces are disclosed. Pads covered with fibers can be activated in pairs by opposite forces, thereby enabling control of the adhesive force in an ON or OFF state. Pads can be used in groups, each comprising a group of opposite pads. The adhesive structures enable anchoring forces that can resist adverse forces from different directions. The adhesive structures can be used to enable the operation of robots on surfaces of space vehicles.

Parness, Aaron↗

NASA NTRS2012

Process for manufacturing shell membrane force and deflection sensor

A sensor for force is formed from an elastomeric cylinder having a region with apertures. The apertures have passageways formed between them, and an optical fiber is introduced into these passageways, where the optical fiber has a grating for measurement of tension positioned in the passageways between apertures. Optionally, a temperature measurement sensor is placed in or around the elastomer for temperature correction, and if required, a copper film may be deposited in the elastomer for reduced sensitivity to spot temperature variations in the elastomer near the sensors.

Park, Yong-Lae↗

NASA NTRS2011

Force and deflection sensor with shell membrane and optical gratings and method of manufacture

A sensor for force is formed from an elastomeric cylinder having a region with apertures. The apertures have passageways formed between them, and an optical fiber is introduced into these passageways, where the optical fiber has a grating for measurement of tension positioned in the passageways between apertures. Optionally, a temperature measurement sensor is placed in or around the elastomer for temperature correction, and if required, a copper film may be deposited in the elastomer for reduced sensitivity to spot temperature variations in the elastomer near the sensors.

Park, Yong-Lae↗

NASA NTRS2000

Roughness Perception of Haptically Displayed Fractal Surfaces

Surface profiles were generated by a fractal algorithm and haptically rendered on a force feedback joystick, Subjects were asked to use the joystick to explore pairs of surfaces and report to the experimenter which of the surfaces they felt was rougher. Surfaces were characterized by their root mean square (RMS) amplitude and their fractal dimension. The most important factor affecting the perceived roughness of the fractal surfaces was the RMS amplitude of the surface. When comparing surfaces of fractal dimension 1.2-1.35 it was found that the fractal dimension was negatively correlated with perceived roughness.

Costa, Michael A.↗