Analysis and Construction of Contact and Tactile Sensors.

摘要

During the period of June 1, 1987 through May 31, 1988, the preliminary analysis and construction of two radically different touch sensors was performed at the MIT AI Laboratory. The sensors investigated during the course of this contract provide complementary means for a robot finger to perceive information about contact with an object. The sensor developed by Siegel is a miniature array of 64 pressure sensitive elements which employ a capacitance measuring scheme to achieve good linearity and resolution in measurement of the normal force at each element. The other sensor, developed by Brock employs an entirely different technique for sensing contact. It uses a rigid, hollow fingertip mounted on a force sensing structure to measure contact information. The structure employs strain gauges to permit the measurement of all six components of the net force acting on the fingertip.