1 Introduction to tactile sensing. 1.1. Sensing and robotics -- 1.2. A sensing taxonomy -- 1.3. What Is tactile sensing? -- 1.4. Some attributes of the tactile domain -- 1.5. Haptic sensing -- 1.6. Tasks for tactile sensors -- References -- 2. Tactile sensor designs. 2.1. Introduction -- 2.2. Methods of transduction -- 2.3. Summary -- References -- 3. Processing and using tactile sensor data. 3.1. Introduction -- 3.2. Basic tactile sensing issues -- 3.3. Object recognition using a single tactile image -- 3.4. Active tactile sensing -- 3.5. Haptic sensing -- 3.6. Conclusion -- References -- 4. Planar elasticity for tactile sensing. 4.1. Introduction -- 4.2. Stresses and strains in plane stress -- 4.3. Tactile signal processing -- 4.4. Summary -- References -- 5. Integrating tactile sensors - ESPRIT. 5.1. Introduction -- 5.2. Project structure -- 5.3. The manufacturing requirement -- 5.4. The sensing problem -- 5.5. An integrated approach -- 5.6. Conclusion -- References -- 6. Distributed touch sensing. 6.1. An alternative to regular array sensing -- 6.2. The InFACT project: flexible assembly -- 6.3. The InFACT machine configuration -- 6.4. Sensing philosophy and sensor integration -- 6.5. The touch probes -- 6.6. Assembly sequence specification -- 6.7. Two example measure tasks -- 6.8 Conclusion -- References -- 7. The human tactile system. 7.1. Introduction -- 7.2. The peripheral nerve -- 7.3 Nerve terminals in the skin -- 7.4 Nerve terminals in glabrous skin -- 7.5 Limb proprioception -- 7.6 Conclusion -- References -- 8. Lessons from the study of biological touch for robotic tactile sensing. 8.1. Introduction -- 8.2. Skin mechanics -- 8.3. Cutaneous sensitivity -- 8.4. Texture perception -- 8.5. Processing 2-dimensional patterns -- 8.6. Thermal sensing -- 8.7. Processing spatially distributed inputs -- 8.8. Conclusion -- References -- 9. Lessons from the study Of biological touch for robotic haptic sensing. 9.1. Introduction, focus and chapter outline -- 9.2. Haptic perception -- 9.3. Sensory-guided motor control -- 9.4. Conclusion -- References -- 10. Object recognition using active tactile sensing. 10.1. Introduction -- 10.2. Early work in active tactile object recognition -- 10.3. Interpretation tree methods -- L0.4. Intrinsic tactile sensing -- 10.5. Shape interpretation using active touch -- 10.6. Integrated methods -- 10.7. Summary -- References -- 11. Experiments in active haptic perception With the Utah-MIT dextrous hand. 11.1. Introduction -- 11.2. A haptic perception framework -- 11.3. The Columbia hand-arm system -- 11.4. Exploratory procedures for object recognition tasks -- 11.5. Summary -- References -- 12. Future trends in tactile sensing. 12.1. Progress to date -- 12.2. Some key trends in tactile sensing -- 12.3. Major outstanding issues -- 12.4. Conclusion -- References -- Appendix. Basic linear elasticity. A.l. Definitions of stress and strain -- A.2. Stress and strain relations -- A.3. Coordinate transformations for stresses -- A.4. Elastic equilibrium: Navier's equation -- A.5. Solution for line load on half-space -- A.6. Solution for load on half space -- References.

    Advanced robot systems require sensory information to enable them to make decisions and to carry out actions in a versatile, autonomous way. Humans make considerable use of information derived through touch, and an emerging domain of robot sensing is tactile sensing. This book considers various aspects of tactile sensing, from sensor hardware design through to the use of tactile data in exploratory situations using a multi-fingered robot hand. Both introductory material and new research results are presented, providing detailed coverage of the subject. Applications from assembly automation to dextrous manipulation are examined, and a particular theme is the relevance of biological touch to robotic tactile sensing. The integration of these topics into a single volume make the book essential reading for all those interested in robotic sensing


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    Title :

    Advanced tactile sensing for robotics




    Publication date :

    1992


    Size :

    1 Online-Ressource (xvii, 294 p)


    Remarks:

    ill
    Campusweiter Zugriff (Universität Hannover) - Vervielfältigungen (z.B. Kopien, Downloads) sind nur von einzelnen Kapiteln oder Seiten und nur zum eigenen wissenschaftlichen Gebrauch erlaubt. Keine Weitergabe an Dritte. Kein systematisches Downloaden durch Robots.
    Includes bibliographical references and index



    Type of media :

    Book


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629.892



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