1 / 10

A Hand Prototype

A Hand Prototype. Eduardo Torres-Jara CSAIL- MIT. Prototype. Approach. Sensor based instead of model based Developing touch sensing instead of vision Real contact with the world Less risky for environment and robot itself because of compliance. Hand Features. Force sensing at fingertips

yamal
Download Presentation

A Hand Prototype

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. A Hand Prototype Eduardo Torres-Jara CSAIL- MIT

  2. Prototype

  3. Approach • Sensor based instead of model based • Developing touch sensing instead of vision • Real contact with the world • Less risky for environment and robot itself because of compliance

  4. Hand Features • Force sensing at fingertips • High spatial resolution • Force sensing at joints • Mechanical compliance • Low impedance • Shock resistance

  5. Finger

  6. Tactile Sensors • Array of Force Sensing Resistors (FSR) • Resolution: 200 points per inch. • Report X, Y coordinates and force (7 bit res.)

  7. Actuator Small Rotary Elastic Actuator

  8. Decoupling for grasping

  9. Rotating Fingers

  10. Hardware Architecture • Force actuators controlled by DSP • Tactile sensors read by PICs • Integration by DSP56F807

More Related