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Thermal sensor for object shape and material constitution

Published online by Cambridge University Press:  09 March 2009

R. Andrew Russell
Affiliation:
Department of Electrical and Computer Engineering, Wollongong University, NSW 2500 (Australia)

Summary

This paper describes a novel tactile sensor array designed to provide information about the material constitution and shape of objects held by a robot manipulator. The sensor is modeled on the thermal touch sense which enables humans to distinguish between different materials based on how warm or cold they feel. Some results are presented and methods of analysing the sensor data are discussed.

Type
Research Article
Copyright
Copyright © Cambridge University Press 1988

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References

1.Hollerbach, J.M., “Workshop on the design and control of dextrous hands” AI Memo No. 661, (MIT AI lab., Cambridge, Mass., 1982).Google Scholar
2.Harmon, L.D., “Automated tactile sensingInt. J. Robotics Res. 1, No. 2, 3334 (1982).CrossRefGoogle Scholar
3.Dario, P. et al. , “Tendon actuated exploratory finger with polymeric skin-like tactile sensorIEEE International Conference on Robotics and Automation701706 (1985).Google Scholar
4.Russell, R.A., “Thermal touch sensingJ. Electrical and Electronics Engineering, Aust. 4, No. 1, 6870 (1984).Google Scholar
5.Geldard, F.G., The Human Senses (John Wiley & Sons, N.Y., 1972).Google Scholar
6. Anon., ‘Data Handbook – Electronic components and materials Part 2a” (Philips, Eindhoven, 1974).Google Scholar
7.Critchlow, A.J., ‘Introduction to Robotics’ (Macmillan Publishing Company, N.Y., 1985).Google Scholar
8.Russell, R.A. and Paoloni, F.J., “A robot sensor for measuring thermal properties of gripped objects” IEEE Trans. Instrum. Meas. IM-34, 458460 (09, 1985).Google Scholar
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