Tactile sensing and stiffness control with multifingered hands
Tactile sensing and stiffness control with multifingered hands
复制标题
使用多指手进行触觉传感和刚度控制
DOI：
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发表时间：
1996
期刊：
影响因子：
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通讯作者：
R. Howe
中科院分区：
文献类型：
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作者：
J. Son;R. Howe
在本文中，我们分析并通过实验测量了触觉传感在存在不确定性的情况下对刚度控制的好处。在操作过程的两个部分中，触觉信息很有用：确定手指接近抓握时的初始对象姿势，以及在操作过程中跟踪对象在手指上滚动和滑动的情况。本文首先分析与抓取物体的初始方向相关的不确定性。然后我们回顾了物体刚度控制算法（Salisbury，1985），并根据物体方向不确定性导出了命令刚度误差的表达式。钉插入任务的实验执行表明触觉传感可以有效地确定物体的初始方向。触觉传感也可用于跟踪物体滚动，但更新速率较慢，这会限制最大刚度。
In this paper we analyze and experimentally measure the benefits of tactile sensing for stiffness control in the presence of uncertainty. There are two parts of the manipulation process where tactile information is helpful: determining the initial object pose as the fingers close to grasp, and tracking the object as it rolls and slides against the fingers during manipulation. The paper begins with an analysis of uncertainty associated with the initial orientation of a grasped object. We then review the object stiffness control algorithm (Salisbury, 1985), and derive an expression for the errors in the commanded stiffness based on object orientation uncertainty. Experimental execution of a peg insertion task demonstrates that tactile sensing can effectively determine the initial orientation of the object. Tactile sensing can also be used to track object rolling, but update rates are slow which can limit the maximum stiffness.