NASA NTRS · 19900020475
Force/torque and tactile sensors for sensor-based manipulator control
Abstract
The autonomy of manipulators, in space and in industrial environments, can be dramatically enhanced by the use of force/torque and tactile sensors. The development and future use of a six-component force/torque sensor for the Hermes Robot Arm (HERA) Basic End-Effector (BEE) is discussed. Then a multifunctional gripper system based on tactile sensors is described. The basic transducing element of the sensor is a sheet of pressure-sensitive polymer. Tactile image processing algorithms for slip detection, object position estimation, and object recognition are described.
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Vanbrussel, H., Belieen, H., Bao, Chao-Ying. 1989-01-31. Force/torque and tactile sensors for sensor-based manipulator control. https://ntrs.nasa.gov/citations/19900020475
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