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

Augmentation of Grasp Robustness Using Intrinsic Tactile Sensing

1989-01-01

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
1989
0818619384
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11568/13417
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