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A Hand Prototype. Eduardo Torres-Jara CSAIL- MIT. Prototype. Approach. Sensor based instead of model based Developing touch sensing instead of vision Real contact with the world Less risky for environment and robot itself because of compliance. Hand Features. Force sensing at fingertips
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A Hand Prototype Eduardo Torres-Jara CSAIL- MIT
Approach • Sensor based instead of model based • Developing touch sensing instead of vision • Real contact with the world • Less risky for environment and robot itself because of compliance
Hand Features • Force sensing at fingertips • High spatial resolution • Force sensing at joints • Mechanical compliance • Low impedance • Shock resistance
Tactile Sensors • Array of Force Sensing Resistors (FSR) • Resolution: 200 points per inch. • Report X, Y coordinates and force (7 bit res.)
Actuator Small Rotary Elastic Actuator
Hardware Architecture • Force actuators controlled by DSP • Tactile sensors read by PICs • Integration by DSP56F807