Tactile sensors are providing the foundation for developing autonomous grasping skills for the NASA/DARPA Robonaut, a dexterous humanoid robot. The sensors originally developed for the Utah/MIT hand are now incorporated into a rugged glove for Robonaut. These custom gloves compliment the human like dexterity available in the Robonaut hands. The sensors and gloves are discussed showing a progression in using advanced materials and construction techniques to enhance sensitivity and overall sensor coverage. The force data provided by the gloves can be used to improve dexterous, tool and power grasping primitives. Experiments with the latest gloves focus on the use of tools, specifically a power drill used to approximate an astronaut's torque tool.


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    Title :

    Tactile Sensors for the NASA/DARPA Robonaut


    Contributors:

    Conference:

    AIAA Unmanned Unlimited Technical Conference ; 2004 ; Chicago, IL, United States


    Publication date :

    2004-01-01


    Type of media :

    Conference paper


    Type of material :

    No indication


    Language :

    English




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