NDLI: Intelligent haptic sensor system for robotic manipulation

Content Provider	IEEE Xplore Digital Library
Author	Payeur, P. Pasca, C. Cretu, A.-M. Petriu, E.M.
Copyright Year	1963
Abstract	Controlling robotic interventions on small devices creates important challenges on the sensing stage as resolution limitations of noncontact sensors are rapidly reached. The integration of haptic sensors to refine information provided by vision sensors appears as a very promising approach in the development of autonomous robotic systems because it reproduces the multiplicity of sensing sources used by humans. This paper discusses an intelligent multimodal sensor system developed to enhance the haptic control of robotic manipulations of small three-dimensional (3-D) objects. The proposed system combines a 16 /spl times/16 array of force sensing resistor (FSR) elements to refine 3-D shape measurements in selected areas previously monitored with a laser range finder. Using the integrated technologies, the sensor system is able to recognize small-size objects that cannot be accurately differentiated through range measurements and provides an estimate of the objects orientation. Characteristics of the system are demonstrated in the context of a robotic intervention that requires fine objects to be localized and identified for their shape and orientation.
Sponsorship	IEEE Instrumentation and Measurement Society Bureau international des poids et mesures IEEE International Bureau of Weights and Measures (BIPM) URSI NBS Agency Ind. Sci. & Technol., Min. Int. Trade & Ind. Sci. Council Japan International Union of Pure and Applied Physics (IUPAP) NIST NRCC National Conference of Standards Laboratories (NCSL) Allen Osborne Associates Andeen-Hagerling, Inc. Ballantine Lab. Inc. Clarke-Hess Communications Research Corp. Fluke Corporation Guildline Instruments Hewlett-Packard Co. Julie Res. Lab. Inc. Keithley Instruments, Inc. Measurements International Ltd. Canada QuadTech Inc. Quantum Design Inc. Rotek Instrum. Corp. Tegam Inc. Tektronix Inc
Starting Page	1583
Ending Page	1592
Page Count	10
File Size	3230211
File Format	PDF
ISSN	00189456
Volume Number	54
Issue Number	4
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-08-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Intelligent robots Intelligent systems Intelligent sensors Haptic interfaces Sensor systems Robot sensing systems Robot control Robot vision systems Humans Multimodal sensors robot tactile systems Haptics laser measurement applications microprocessors applications neural networks object recognition
Content Type	Text
Resource Type	Article
Subject	Instrumentation Electrical and Electronic Engineering

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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