NDLI: Force and slip sensing for a dextrous underwater gripper

Content Provider	IEEE Xplore Digital Library
Author	O'Brien, D.J. Lane, D.M.
Copyright Year	1998
Description	Author affiliation: Ocean Syst. Lab., Heriot-Watt Univ., Edinburgh, UK (O'Brien, D.J.)
Abstract	Presents the design of the fingertip sensing subsystem constructed for use in a dextrous underwater gripper. Two distinct types of sensor were developed specifically for this application, a force sensor and a slip sensor. The force sensor is used to determine the force exerted by the gripper on the target object, and hence allow the force loop closure required for carrying out dextrous manipulation and the handling of delicate marine samples. The function of the slip sensor is to detect the occurrence of slippage between the fingertip and the target. The information can be used in a variety of ways, for example providing a warning system to the force control loop or enhancing the gripper's exploratory capabilities in areas of poor visibility. Two quite different methods of extracting the force data from the sensor readings are presented and evaluated. The performance of the slip sensor is assessed, as is its potential usefulness in acting in tandem with the force sensor.
Starting Page	1057
Ending Page	1062
File Size	735202
Page Count	6
File Format	PDF
ISBN	078034300X
ISSN	10504729
DOI	10.1109/ROBOT.1998.677230
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1998-05-20
Publisher Place	Belgium
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Grippers Force sensors Force control Robot sensing systems Force feedback Manipulators Analytical models Laboratories Alarm systems Data mining
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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