Advanced tactile sensing for robotics:
Saved in:
| Format: | Book |
|---|---|
| Language: | English |
| Published: |
Singapore u.a.
World Scientific Publ.
1992
|
| Series: | World Scientific series in robotics and automated systems
5 |
| Subjects: | |
| Online Access: | Inhaltsverzeichnis |
| Item Description: | Literaturangaben |
| Physical Description: | XVII, 294 S. Ill., graph. Darst. |
| ISBN: | 9810208707 |
Staff View
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| 245 | 1 | 0 | |a Advanced tactile sensing for robotics |c ed. by Howard R. Nicholls |
| 264 | 1 | |a Singapore u.a. |b World Scientific Publ. |c 1992 | |
| 300 | |a XVII, 294 S. |b Ill., graph. Darst. | ||
| 336 | |b txt |2 rdacontent | ||
| 337 | |b n |2 rdamedia | ||
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| 490 | 1 | |a World Scientific series in robotics and automated systems |v 5 | |
| 500 | |a Literaturangaben | ||
| 650 | 4 | |a Robots |x Control systems | |
| 650 | 4 | |a Tactile sensors |x Industrial applications | |
| 700 | 1 | |a Nicholls, Howard R. |e Sonstige |4 oth | |
| 830 | 0 | |a World Scientific series in robotics and automated systems |v 5 |w (DE-604)BV006188286 |9 5 | |
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Record in the Search Index
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|---|---|
| adam_text | WORLD SCIENTIFIC SERIES IN ROBOTICS AND AUTOMATED SYSTEMS - VOL. 5
ADVANCED TACTILE SENSING FOR ROBOTICS EDITED BY HOWARD R. NICHOLLS
UNIVERSLFY COLLEGE OF WALES ABERYSTWYTH, UK ** WORLD SCIENTIFIC
SINGAPORE * NEW JERSEY * LONDON * HONG KONG CONTENTS PREFACE V 1
INTRODUCTION TO TACTILE SENSING 1 1.1 SENSING AND ROBOTICS 1 1.2 A
SENSING TAXONOMY 2 1.3 WHAT IS TACTILE SENSING? 4 1.4 SOME ATTRIBUTES OF
THE TACTILE DOMAIN 5 1.5 HAPTIC SENSING 8 1.6 TASKS FOR TACTILE SENSORS
9 REFERENCES 11 2 TACTILE SENSOR DESIGNS 13 2.1 INTRODUCTION 13 2.2
METHODS OF TRANSDUCTION 15 2.2.1 RESISTIVE 15 2.2.2 PIEZOELECTRIC AND
PYROELECTRIC EFFECTS 20 2.2.3 CAPACITIVE TECHNIQUES 23 2.2.4 MAGNETIC
TRANSDUCTION METHODS 26 2.2.5 MECHANICAL TRANSDUCTION METHODS 29 2.2.6
OPTICAL TRANSDUCTION METHODS 31 2.2.7 OTHER TECHNIQUES 36 2.3 SUMMARY 37
2.3.1 RESISTIVE AND CONDUCTIVE 38 2.3.2 PIEZOELECTRIC AND PYROELECTRIC
EFFECTS 38 2.3.3 CAPACITIVE TECHNIQUES 38 2.3.4 MAGNETIC TRANSDUCTION
METHODS 39 2.3.5 MECHANICAL TRANSDUCTION METHODS 39 2.3.6 OPTICAL
TRANSDUCTION METHODS 40 REFERENCES 40 3 PROCESSING AND USING TACTILE
SENSOR DATA 49 3.1 INTRODUCTION 49 3.2 BASIC TACTILE SENSING ISSUES 50
IX X ADVANCED TACTILE SENSING FOR ROBOTICS 3.2.1 PARAMETERS OF CONTACT
50 3.2.2 GRASPING AND TACTILE SENSING 51 3.2.3 STAHLE GRASPING WITH
INTRINSIC TACTILE SENSING 54 3.3 OBJECT RECOGNITION USING A SINGLE
TACTILE IMAGE 55 3.4 ACTIVE TACTILE SENSING 60 3.4.1 SHAPE DESCRIPTION
WITHOUT SPECIFIC MODELS 61 3.4.2 MODEL MATCHING 62 3.5 HAPTIC SENSING 64
3.6 CONCLUSION 67 REFERENCES 67 4 PLANAR ELASTICITY FOR TACTILE SENSING
75 4.1 INTRODUCTION 75 4.2 STRESSES AND STRAINS IN PLANE STRESS 77 4.2.1
DEFLECTIONS FOR PLANE STRAIN 80 4.2.2 STRAIN AND DEFLECTION GIVEN
SURFACE TRACTION 81 4.2.3 DETERMINING SURFACE TRACTIONS FROM OBJECT
SHAPE AND LOADING 83 4.3 TACTILE SIGNAL PROCESSING 84 4.3.1 DEFLECTION
VS. STRAIN MEASUREMENTS 85 4.3.2 SENSOR MODELLING 85 4.3.3 FILTER
METHODS FOR OBTAINING SURFACE PRESSURE AND DEFLECTION 85 4.3.4 FORCE
ANGLE ESTIMATION 86 4.3.5 SAMPLING DENSITY 87 4.3.6 FINGER SOFTNESS 90
4.4 SUMMARY 91 REFERENCES 91 5 INTEGRATING TACTILE SENSORS - ESPRIT 278
95 5.1 INTRODUCTION 95 5.2 PROJECT STRUCTURE 95 5.3 THE MANUFACTURING
REQUIREMENT 96 5.4 THE SENSING PROBLEM 97 5.5 AN INTEGRATED APPROACH 98
5.5.1 SYSTEM ARCHITECTURE 98 5.5.2 TACTILE AND GRIPPER SYSTEM 99 5.5.3
VISION SYSTEM . 103 5.5.4 COMMUNICATIONS INFRASTRUCTURE 103 5.5.5 SYSTEM
OPERATION 104 5.6 CONCLUSION 105 REFERENCES 106 6 DISTRIBUTED TOUCH
SENSING 107 6.1 AN ALTERNATIVE TO REGULAER ARRAY SENSING 107 6.2 THE
INFACT PROJECT: FLEXIBLE ASSEMBLY 108 CONTENTS XI 6.3 THE INFACT MACHINE
CONFIGURATION 109 6.4 SENSING PHILOSOPHY AND SENSOR INTEGRATION 111 6.5
THE TOUCH PROBES 112 6.6 ASSEMBLY SEQUENCE SPECIFICATION 114 6.6.1
MEASUREMENT TASKS 115 6.6.2 MEASUREMENT TASK DESIGN 118 6.6.3
UNCERTAINTIES 118 6.7 TWO EXAMPLE MEASURE TASKS 120 6.7.1 THE TRANSLATE
UNTIL TASK 120 6.7.2 THE FIND HOLE CENTRE TASK 120 6.8 CONCLUSION 121
REFERENCES 122 7 THE HUMAN TACTILE SYSTEM 123 7.1 INTRODUCTION . ., , V
123 7.2 THE PERIPHERAL NERVE 124 7.2.1 ORGANISATION OF A PERIPHERAL
NERVE 124 7.2.2 CLASSIFICATION OF AFFERENT NERVES 125 7.2.3 AFFERENT
FIBRE DISTRIBUTION IN A PERIPHERAL NERVE 126 7.2.4 NERVE CONDUCTION 126
7.2.5 FAST ADAPTING AND SLOWLY ADAPTING RECEPTORS 128 7.3 NERVE
TERMINALS IN THE SKIN 129 7.3.1 STRUCTURE OF THE SKIN 129 7.3.2
DERMAL-EPIDERMAL ENVIRONMENT 129 7.3.3 DISTINCTION BETWEEN HAIRY SKIN
AND GLABROUS SKIN 130 7.3.4 GLABROUS SKIN 131 7.4 NERVE TERMINALS IN
GLABROUS SKIN 131 7.4.1 THERMORECEPTORS AND NOCICEPTORS 133 7.4.2
MECHANORECEPTORS 134 7.5 LIMB PROPRIOCEPTION 140 7.5.1 AFFERENTS OF THE
JOINTS 140 7.5.2 AFFERENTS OF THE MUSCLES 142 7.6 CONCLUSION 143
REFERENCES 144 8 LESSONS FROM THE STUDY OF BIOLOGICAL TOUCH FOR ROBOTIC
TACTILE SENSING 151 8.1 INTRODUCTION 151 8.1.1 WHAT IS TOUCH GOOD FOR?
151 8.1.2 DEFINITIONS: TACTILE, KINESTHETIC, HAPTIC 152 8.1.3 FOCUS AND
CHAPTER OUTLINE 152 8.1.4 WHAT CAN THE STUDY OF BIOLOGICAL TOUCH
CONTRIBUTE TO ROBOTICS 153 XII ADVANCED TACTILE SENSING FOR ROBOTICS
8.1.5 A MINI-TUTORIAL ON THE SCIENTIFIC METHOD IN BIOLOGICAL RESEARCH
155 8.2 SKIN MECHANICS 158 8.3 CUTANEOUS SENSITIVITY 160 8.3.1 AMPLITUDE
RESOLUTION 160 8.3.2 SPATIAL SENSITIVITY 162 8.3.3 TEMPORAL SENSITIVITY
165 8.3.4 SPATIOTEMPORAL TRANSFER FUNCTION 168 8.4 TEXTURE PERCEPTION
169 8.4.1 PSYCHOPHYSICS 169 8.4.2 NEURAL BASIS 171 8.4.3 STATIC TOUCH
VS. SCANNING 173 8.5 PROCESSING 2-DIMENSIONAL PATTERNS 174 8.5.1
BEHAVIOURAL 174 8.5.2 NEURAL CODING 178 8.6 THERMAL SENSING 180 8.6.1
PSYCHOPHYSICS 180 8.6.2 NEURAL CODING 181 8.6.3 ROBOTIC APPLICATIONS 181
8.7 PROCESSING SPATIALLY DISTRIBUTED INPUTS 181 8.7.1 FINGERS AS
SEPARATE PROCESSING SITES 182 8.7.2 ARE TWO HANDS BETTER THAN ONE? 182
8.7.3 LIMITED CUTANEOUS FIELD OF VIEW 182 8.7.4 SELECTIVE ATTENTION 183
8.7.5 PREATTENTIVE VS. ATTENTIVE TACTILE PROCESSING 183 8.7.6 FEATURES
FOR COMPUTATIONAL MODELS OF EARLY TACTILE PROCESSING 184 8.8 CONCLUSION
185 REFERENCES 185 9 LESSONS FROM THE STUDY OF BIOLOGICAL TOUCH FOR
ROBOTIC HAPTIC SENSING 193 9.1 INTRODUCTION, FOCUS AND CHAPTER OUTLINE
193 9.2 HAPTIC PERCEPTION 194 9.2.1 PROCESSING RAISED 2-DIMENSIONAL
SPATIAL PATTERNS & HOMOGE- NEOUS 3-DIMENSIONAL OBJECTS 195 9.2.2
PROCESSING COMMON 3-DIMENSIONAL OBJECTS 197 9.2.3 PATTERNS OF MANUAL
EXPLORATION: EXPLORATORY PROCEDURES . . 198 9.2.4 CONSTRAINTS ON THE
SELECTION OF EXPLORATORY PROCEDURES . . . . 200 9.2.5 TWO-STAGE SEQUENCE
OF MANUAL EXPLORATION DURING HAPTIC OBJECT RECOGNITION 205 9.2.6 TOWARDS
A COMPUTATIONAL MODEL OF CONSTRAINT-DRIVEN EXPLO- RATION AND HAPTIC
OBJECT IDENTIFICATION 206 9.2.7 THE DEVELOPMENT OF MANUAL EXPLORATION
AND HAPTIC OBJECT PERCEPTION 207 CONTENTS XIII 9.2.8 HAPTIC PERCEPTION
THROUGH WIELDING A ROD 207 9.3 SENSORY-GUIDED MOTOR CONTROL 208 9.3.1
CUTANEOUS INFORMATION FOR MOTOR CONTROL 208 9.3.2 HAPTIC VOLUMETRIE
ATTRIBUTES FOR LIFTING AN UNKNOWN OBJECT . 213 9.3.3 CONTOUR EXPLORATION
PROCEDURES (CEPS) FOR GRASPING/MANIPULATION AND THE ROLE OF THE SECOND
HAND 213 9.4 CONCLUSION 214 REFERENCES 215 10 OBJECT RECOGNITION USING
ACTIVE TACTILE SENSING 221 10.1 INTRODUCTION 221 10.2 EARLY WORK IN
ACTIVE TACTILE OBJECT RECOGNITION 222 10.3 INTERPRETATION TREE METHODS
223 10.3.1 ELIMINATING INTERPRETATIONS BY CONSTRAINTS 223 10.3.2
STRATEGIES FOR ACTIVE SEARCH 225 10.4 INTRINSIC TACTILE SENSING 228
10.4.1 SURFACE RECOVERY USING INTRINSIC TACTILE SENSING 229 10.5 SHAPE
INTERPRETATION USING ACTIVE TOUCH 232 10.5.1 RELATED METHODS 233 10.6
INTEGRATED METHODS 234 10.6.1 RECOGNITION USING VISION AND TOUCH 234
10.6.2 APPREHENSION USING VISION AND TOUCH 240 10.7 SUMMARY 243
REFERENCES 244 11 EXPERIMENTS IN ACTIVE HAPTIC PERCEPTION WITH THE
UTAH-MIT DEXTROUS HAND 249 11.1 INTRODUCTION 249 11.2 A HAPTIC
PERCEPTION FRAMEWORK 250 11.3 THE COLUMBIA HAND-ARM SYSTEM 253 11.3.1
TACTILE SENSORS 254 11.4 EXPLORATORY PROCEDURES FOR OBJECT RECOGNITION
TASKS 256 11.4.1 EXPLORATORY PROCEDURE 1: GRASPING BY CONTAINMENT 257
11.4.2 EXPLORATORY PROCEDURE 2: PLANAR SURFACE EXPLORER 261 11.4.3
EXPLORATORY PROCEDURE 3: SURFACE CONTOUR FOLLOWING 264 11.5 SUMMARY 268
REFERENCES 269 12 FUTURE TRENDS IN TACTILE SENSING 273 12.1 PROGRESS TO
DATE 273 12.2 SOME KEY TRENDS IN TACTILE SENSING 274 12.3 MAJOR
OUTSTANDING ISSUES 275 12.4 CONCLUSION 276 REFERENCES 276 XIV ADVANCED
TACTILE SENSING FOR ROBOTICS APPENDIX. BASIC LINEAR ELASTICITY 277 A.L
DEFINITIONS OF STRESS AND STRAIN 277 A.2 STRESS AND STRAIN RELATIONS 279
A.3 COORDINATE TRANSFORMATIONS FOR STRESSES 281 A.4 ELASTIC EQUILIBRIUM:
NAVIER S EQUATION 283 A.5 SOLUTION FOR LINE LOAD ON HALF-SPACE 287 A.5.1
NORMAL STRAIN FOR LINE LOAD 289 A.5.2 SURFACE DISPLACEMENT FOR LINE LOAD
289 A.6 SOLUTION FOR LOAD ON HALF SPACE 290 REFERENCES 290 INDEX 291
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| illustrated | Illustrated |
| indexdate | 2024-07-09T17:13:10Z |
| institution | BVB |
| isbn | 9810208707 |
| language | English |
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| physical | XVII, 294 S. Ill., graph. Darst. |
| publishDate | 1992 |
| publishDateSearch | 1992 |
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| publisher | World Scientific Publ. |
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| series | World Scientific series in robotics and automated systems |
| series2 | World Scientific series in robotics and automated systems |
| spelling | Advanced tactile sensing for robotics ed. by Howard R. Nicholls Singapore u.a. World Scientific Publ. 1992 XVII, 294 S. Ill., graph. Darst. txt rdacontent n rdamedia nc rdacarrier World Scientific series in robotics and automated systems 5 Literaturangaben Robots Control systems Tactile sensors Industrial applications Nicholls, Howard R. Sonstige oth World Scientific series in robotics and automated systems 5 (DE-604)BV006188286 5 GBV Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=005283123&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Advanced tactile sensing for robotics World Scientific series in robotics and automated systems Robots Control systems Tactile sensors Industrial applications |
| title | Advanced tactile sensing for robotics |
| title_auth | Advanced tactile sensing for robotics |
| title_exact_search | Advanced tactile sensing for robotics |
| title_full | Advanced tactile sensing for robotics ed. by Howard R. Nicholls |
| title_fullStr | Advanced tactile sensing for robotics ed. by Howard R. Nicholls |
| title_full_unstemmed | Advanced tactile sensing for robotics ed. by Howard R. Nicholls |
| title_short | Advanced tactile sensing for robotics |
| title_sort | advanced tactile sensing for robotics |
| topic | Robots Control systems Tactile sensors Industrial applications |
| topic_facet | Robots Control systems Tactile sensors Industrial applications |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=005283123&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
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