Abstract
An interesting problem for a robot that is manipulating an object in the environment, either directly or by using a tool, would be to perceive the length of the object and/or tool. This paper addresses the problem of length perception in a teleoperation context, using the sense of touch alone. To establish a relation between the forces acting on the robot gripper and the length of the gripped object, a rigorous mechanical analysis of the gripper-object system is performed. With regard to robotic length perception, a novel sensor that derives directly from the results obtained from the mechanical analysis is proposed. The mechanical analysis is also applied to the question of how humans perceive the length of a rod held stationary in the hand, and tested experimentally in a sequence of psychophysical investigations. The implication of this study for design of teleoperated systems under human force-reflection control is discussed.
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© 1994 Springer-Verlag London Limited
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Ganeshan, S.R., Ellis, R.E., Lederman, S.J. (1994). Teleoperated sensing by grasping: Robot sensors and human psychophysics. In: Yoshikawa, T., Miyazaki, F. (eds) Experimental Robotics III. Lecture Notes in Control and Information Sciences, vol 200. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0027609
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DOI: https://doi.org/10.1007/BFb0027609
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Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-19905-2
Online ISBN: 978-3-540-39355-9
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