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Force/Torque and Tactile Sensors for Sensor-Based Manipulator Control

  • H. Van Brussel
  • H. Beliën
  • Bao Chao-Ying
Part of the NATO ASI Series book series (volume 63)

Abstract

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.

Keywords

Tactile Sensor Outer Frame Mechanical Stop Full Bridge Tactile Image 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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References

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Copyright information

© Springer-Verlag Berlin Heidelberg 1990

Authors and Affiliations

  • H. Van Brussel
    • 1
  • H. Beliën
    • 1
  • Bao Chao-Ying
    • 1
  1. 1.Department of Mechanical EngineeringKatholieke Universiteit LeuvenLeuvenBelgium

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