Force/Torque and Tactile Sensors for Sensor-Based Manipulator Control
The autonomy of manipulators, in space as well as in industrial environments can be dramatically enhanced by the use of force/torque and tactile sensors.
In a first part the development and future use of a six-component force/torque sensor for the Hermes Robot Arm (HERA) Basic End-Effector (BEE) is discussed.
Further, 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.
KeywordsTactile Sensor Outer Frame Mechanical Stop Full Bridge Tactile Image
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