scholarly journals 1A1-B39 High-speed grasp and manipulation of a pen-shaped object using a high-speed multifingered hand with high-speed tactile sensor

2006 ◽  
Vol 2006 (0) ◽  
pp. _1A1-B39_1-_1A1-B39_4
Author(s):  
Tatsuya Ishihara ◽  
Akio NAMIKI ◽  
Masatoshi ISHIKAWA ◽  
Makoto Shimojo
Keyword(s):  
2011 ◽  
Vol 08 (03) ◽  
pp. 181-195
Author(s):  
ZHAOXIAN XIE ◽  
HISASHI YAMAGUCHI ◽  
MASAHITO TSUKANO ◽  
AIGUO MING ◽  
MAKOTO SHIMOJO

As one of the home services by a mobile manipulator system, we are aiming at the realization of the stand-up motion support for elderly people. This work is charaterized by the use of real-time feedback control based on the information from high speed tactile sensors for detecting the contact force as well as its center of pressure between the assisted human and the robot arm. First, this paper introduces the design of the tactile sensor as well as initial experimental results to show the feasibility of the proposed system. Moreover, several fundamental tactile sensing-based motion controllers necessary for the stand-up motion support and their experimental verification are presented. Finally, an assist trajectory generation method for the stand-up motion support by integrating fuzzy logic with tactile sensing is proposed and demonstrated experimentally.


Author(s):  
Carsten Schürmann ◽  
Matthias Schöpfer ◽  
Robert Haschke ◽  
Helge Ritter

Author(s):  
Carsten Schurmann ◽  
Risto K~oiva ◽  
Robert Haschke ◽  
Helge Ritter
Keyword(s):  

Author(s):  
Yugo Katsuki ◽  
Yuji Yamakawa ◽  
Masatoshi Ishikawa ◽  
Makoto Shimojo
Keyword(s):  

2011 ◽  
Vol 2011 ◽  
pp. 1-9 ◽  
Author(s):  
Wataru Fukui ◽  
Futoshi Kobayashi ◽  
Fumio Kojima ◽  
Hiroyuki Nakamoto ◽  
Nobuaki Imamura ◽  
...  

We have developed a universal robot hand with tactile and other sensors. An array-type tactile sensor is crucial for dexterous manipulation of objects using a robotic hand, since this sensor can measure the pressure distribution on finger pads. The sensor has a very high resolution, and the shape of a grasped object can be classified by using this sensor. The more the number of measurement points provided, the higher the accuracy of the classification, but with a corresponding lengthening of the measurement cycle. In this paper, the problem of slow response time is resolved by using software for an array-type tactile sensor with high resolution that emulates the human sensor system. The validity of the proposed method is demonstrated through experiments.


Author(s):  
E.D. Wolf

Most microelectronics devices and circuits operate faster, consume less power, execute more functions and cost less per circuit function when the feature-sizes internal to the devices and circuits are made smaller. This is part of the stimulus for the Very High-Speed Integrated Circuits (VHSIC) program. There is also a need for smaller, more sensitive sensors in a wide range of disciplines that includes electrochemistry, neurophysiology and ultra-high pressure solid state research. There is often fundamental new science (and sometimes new technology) to be revealed (and used) when a basic parameter such as size is extended to new dimensions, as is evident at the two extremes of smallness and largeness, high energy particle physics and cosmology, respectively. However, there is also a very important intermediate domain of size that spans from the diameter of a small cluster of atoms up to near one micrometer which may also have just as profound effects on society as “big” physics.


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