EnglishThe authors discuss the application of intrinsic tactile sensing (ITS) to grasp and manipulation control. A brief description of ITS, i.e., contact sensing based on force/torque measurements at fingertips, is provided. A method for using sensory feedback in the control of grasp forces to augment grasp robustness against slippage is discussed with respect to a simple grasp type; simulation and experimental data are provided. The possible generalization of this sensor-driven approach to the control of optimal grasp force in complex grasp configurations is addressed
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http://hdl.handle.net/11568/13417| Titolo: | Augmentation of Grasp Robustness Using Intrinsic Tactile Sensing |
| Anno del prodotto: | 1989 |
| Abstract: | The authors discuss the application of intrinsic tactile sensing (ITS) to grasp and manipulation control. A brief description of ITS, i.e., contact sensing based on force/torque measurements at fingertips, is provided. A method for using sensory feedback in the control of grasp forces to augment grasp robustness against slippage is discussed with respect to a simple grasp type; simulation and experimental data are provided. The possible generalization of this sensor-driven approach to the control of optimal grasp force in complex grasp configurations is addressed |
| Handle: | http://hdl.handle.net/11568/13417 |
| ISBN: | 0818619384 |
| Appare nelle tipologie: | 4.1 Contributo in Atti di convegno |
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