Smart Sensors for Smart Hands

Abstract

Proximity, force-torque, touch and slippage sensors developed or applied by the JPL Teleoperator Project for remote manipulator control are described, including sensor data handling by computers for display and control. Examples are quoted showing the significance of these sensors for manual or computer control of manipulators. An interesting example is a proximity sensor system implemented for a four-claw JSC end effector and tested at the Shuttle Manipulator Training Facility of JSC. New sensing concepts aimed at simplifying the implementation of 'Smart Sensors for Smart Hands' in the space environment are discussed.