| Description |
x, 174 pages : illustrations ; 25 cm |
| Contents |
Machine derived contents note: Preface ix -- 1. Introduction 1 -- 1.1 Why do industrial robots need sensory feedback? 1 -- 1.2 Comparing contact and non-contact sensors 2 -- 1.3 Applications for robot tactile sensors 2 -- 1.4 What does tactile sensing involve? 3 -- Bibliography 3 -- Questions 4 -- 2. Human touch sensing 5 -- 2.1 Proprioceptive sensor system 6 -- 2.2 Exterioceptive sensor system 7 -- 2.3 Body hairs as sensors 9 -- 2.4 The distribution of tactile sensors 10 -- 2.5 Conclusion 11 -- Bibliography 12 -- Questions 12 -- 3. Sensors and transducers 13 -- 3.1 Information-processing systems 13 -- 3.2 Carriers of information 14 -- 3.3 Performance and characteristics 16 -- 3.4 Sensor addressing 17 -- 3.5 Towards 'smart' sensors 20 -- 3.6 Silicon sensors 21 -- 3.7 Conclusion 24 -- Bibliography 24 -- Questions 24 -- 4. A kinesthetic sense for robots 26 -- 4.1 Measuring the position of robot joints 26 -- 4.2 Force and torque measurement 36 -- 4.3 Load cell structures 37 -- 4.4 Tendon tension sensing 44 -- Bibliography 45 -- Questions 45 -- 5. Touch sensor arrays 48 -- 5.1 Force, pressure, and shear 48 -- 5.2 Switches as touch sensors 49 -- 5.3 Piezoresistive 52 -- 5.4 Piezoelectric polymers 58 -- 5.5 Optical 61 -- 5.6 Magnetic 73 -- 5.7 Ultrasonic 77 -- 5.8 Capacitive 78 -- 5.9 Electrochemical sensor 79 -- 5.10 Conclusion 80 -- Bibliography 82 -- Questions 84 -- 6. Compliant tactile sensors 86 -- 6.1 How compliance affects the information-gathering capabilities of a -- tactile sensor 86 -- 6.2 Tactile sensors designed to gather three-dimensional surface -- information 88 -- 6.3 Conclusion 97 -- Bibliography 98 -- Questions 98 -- 7. Additional modes of tactile sensing 100 -- 7.1 Whiskers as proximity sensors 100 -- 7.2 Thermal sensing (Russell 1984) 107 -- 7.3 Texture sensing 111 -- 7.4 Slip sensing 111 -- 7.5 Electrical conductivity 112 -- 7.6 Sensing contact through coupled vibration 114 -- 7.7 Conclusion 114 -- Bibliography 114 -- Questions 115 -- 8. Tactile sensing and mobility 116 -- 8.1 Robot hands for gripping 116 -- 8.2 How many fingers? 117 -- 8.3 The human hand 118 -- 8.4 Dextrous robot hands and grippers 119 -- 8.5 Some examples of robot hand/gripper design 120 -- Bibliography 128 -- Questions 129 -- 9. Tactile feedback at the reflex level 130 -- 9.1 Selective compliance 131 -- 9.2 Detecting slip by tracking image center of area and axis of -- minimum moment of inertia 135 -- Bibliography 138 -- Questions 139 -- 10. Pattern recognition of tactile data 140 -- 10.1 Template matching 140 -- 10.2 Matching two-dimensional outlines 142 -- 10.3 Object recognition using sparse data 145 -- 10.4 Classification of binary tactile images 147 -- 10.5 Conclusion 149 -- Bibliography 149 -- Questions 149 -- 11. Active touch sensing 153 -- 11.1 Measurement of tactile properties 153 -- 11.2 Tactile features 157 -- 11.3 The active approach to object recognition 159 -- 11.4 Conclusion 162 -- Bibliography 162 -- Questions 163 -- 12. Combining sensory data from multiple sources 164 -- 12.1 Multiple sensors - choose or fuse? 164 -- 12.2 Choosing between sensors 164 -- 12.3 Combining data from multiple sensors 166 -- 12.4 Conclusion 170 -- Bibliography 170 -- Questions 171 |
| Analysis |
Industrial robots Sensors |
| Bibliography |
Includes bibliographies and index |
| Subject |
Robots, Industrial.
|
|
Tactile sensors -- Industrial applications.
|
|
Transducers.
|
|
Pattern recognition systems.
|
|
Robots, Industrial.
|
|
Robots.
|
|
Tactile sensors -- Industrial applications.
|
|
Tactile sensors.
|
|
Transducers.
|
| LC no. |
90043830 |
| ISBN |
0137815921 |
|
