دورية أكاديمية
Design of a Multimodal Fingertip Sensor for Dynamic Manipulation
| العنوان: | Design of a Multimodal Fingertip Sensor for Dynamic Manipulation |
|---|---|
| المؤلفون: | SaLoutos, Andrew, Stanger-Jones, Elijah, Guo, Menglong, Kim, Hongmin, Kim, Sangbae |
| المصدر: | arxiv |
| بيانات النشر: | IEEE |
| سنة النشر: | 2024 |
| المجموعة: | DSpace@MIT (Massachusetts Institute of Technology) |
| الوصف: | We introduce a spherical fingertip sensor for dynamic manipulation. It is based on barometric pressure and time-of-flight proximity sensors and is low-latency, compact, and physically robust. The sensor uses a trained neural network to estimate the contact location and three-axis contact forces based on data from the pressure sensors, which are embedded within the sensor’s sphere of polyurethane rubber. The timeof-flight sensors face in three different outward directions, and an integrated microcontroller samples each of the individual sensors at up to 200 Hz. To quantify the effect of system latency on dynamic manipulation performance, we develop and analyze a metric called the collision impulse ratio and characterize the end-to-end latency of our new sensor. We also present experimental demonstrations with the sensor, including measuring contact transitions, performing coarse mapping, maintaining a contact force with a moving object, and reacting to avoid collisions. |
| نوع الوثيقة: | article in journal/newspaper conference object |
| وصف الملف: | application/pdf |
| اللغة: | English |
| العلاقة: | 2023 IEEE International Conference on Robotics and Automation (ICRA); https://hdl.handle.net/1721.1/153601Test; SaLoutos, Andrew, Stanger-Jones, Elijah, Guo, Menglong, Kim, Hongmin and Kim, Sangbae. 2023. "Design of a Multimodal Fingertip Sensor for Dynamic Manipulation." 2023 IEEE International Conference on Robotics and Automation (ICRA). |
| الإتاحة: | https://hdl.handle.net/1721.1/153601Test |
| حقوق: | Creative Commons Attribution-Noncommercial-Share Alike ; http://creativecommons.org/licenses/by-nc-sa/4.0Test/ |
| رقم الانضمام: | edsbas.DB35F135 |
| قاعدة البيانات: | BASE |
| الوصف غير متاح. |