A Tactile Sensor System for a Three-Fingered Robot Manipulator

Jockusch J, Walter J, Ritter H (1997)
In: Proceedings of the IEEE International Conference on Robotics and Automation, 1997. 4. IEEE: 3080-3086.

Conference Paper | Published | English

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Abstract
Tactile sensor systems are an essential prerequisite for the implementation of complex manipulation and exploration tasks using robots. The desire to perform real-time control and pattern recognition with tactile sensors led us to the design of a cost-effective artificial fingertip. At our laboratory two distinct types of sensors are in use: force/position sensors and slippage detectors. We report on first experimental results with a fingertip prototype performing rolling and sliding movements over a flat surface. To facilitate experimentation with tactile sensors, we designed and developed a data acquisition and transportation system that fulfils our demands on bandwidth, flexibility, and cost. This system consists of two hardware components, a configurable multichannel analog signal sampler to acquire sensor data, and an intelligent dual-ported random-access buffer to avoid data transportation bottlenecks
Publishing Year
Conference
1997 IEEE International Conference on Robotics and Automation
Location
Albuquerque
Conference Date
1997-04-20 – 1997-04-25
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Cite this

Jockusch J, Walter J, Ritter H. A Tactile Sensor System for a Three-Fingered Robot Manipulator. In: Proceedings of the IEEE International Conference on Robotics and Automation, 1997. Vol 4. IEEE; 1997: 3080-3086.
Jockusch, J., Walter, J., & Ritter, H. (1997). A Tactile Sensor System for a Three-Fingered Robot Manipulator. Proceedings of the IEEE International Conference on Robotics and Automation, 1997, 4, 3080-3086.
Jockusch, J., Walter, J., and Ritter, H. (1997). “A Tactile Sensor System for a Three-Fingered Robot Manipulator” in Proceedings of the IEEE International Conference on Robotics and Automation, 1997, vol. 4, (IEEE), 3080-3086.
Jockusch, J., Walter, J., & Ritter, H., 1997. A Tactile Sensor System for a Three-Fingered Robot Manipulator. In Proceedings of the IEEE International Conference on Robotics and Automation, 1997. no.4 IEEE, pp. 3080-3086.
J. Jockusch, J. Walter, and H. Ritter, “A Tactile Sensor System for a Three-Fingered Robot Manipulator”, Proceedings of the IEEE International Conference on Robotics and Automation, 1997, vol. 4, IEEE, 1997, pp.3080-3086.
Jockusch, J., Walter, J., Ritter, H.: A Tactile Sensor System for a Three-Fingered Robot Manipulator. Proceedings of the IEEE International Conference on Robotics and Automation, 1997. 4, p. 3080-3086. IEEE (1997).
Jockusch, Jan, Walter, Jörg, and Ritter, Helge. “A Tactile Sensor System for a Three-Fingered Robot Manipulator”. Proceedings of the IEEE International Conference on Robotics and Automation, 1997. IEEE, 1997.Vol. 4. 3080-3086.
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