Quantifying the Performance of a Tactile Sensor: A Case Study

David M. Siegel

doi:10.1117/12.937750

27 March 1987 Quantifying the Performance of a Tactile Sensor: A Case Study

David M. Siegel

Proceedings Volume 0726, Intelligent Robots and Computer Vision V; (1987) https://doi.org/10.1117/12.937750
Event: Cambridge Symposium_Intelligent Robotics Systems, 1986, Cambridge, MA, United States

Abstract

This paper discusses the design of a contact sensor for use with the Utah-MIT dexterous hand [Jacobsen, et al. 1984]. The sensor utilizes an 8 x 8 array of capacitive cells. These results extend the work presented in Siegel, Garabieta, and Hollerbach [1985], Siegel [1986], and the earlier work of Boie [1984]. Before the sensor itself is discussed, a general outline for de-signing contact sensors is proposed. By evaluating the issues raised by this outline, the ultimate usefulness of the final device is more assured. The task outline is shown below: . Ascertain the quantity to be sensed. . Ascertain how this quantity can be sensed. . Determine where the sensor is to be used. . Determine what transduction processes can be applied. . Select the most appropriate transduction process. . Model the transduction process. . Determine how the sensor should be fabricated. . Build and test the sensor. It should be noted that designing tactile sensors is an exercise in evaluating engineering tradeoffs. Each of the above steps constrain the entire design process. The outcome of the latter steps will often force reevaluation of decisions made in earlier steps.

Citation Download Citation

David M. Siegel "Quantifying the Performance of a Tactile Sensor: A Case Study", Proc. SPIE 0726, Intelligent Robots and Computer Vision V, (27 March 1987); https://doi.org/10.1117/12.937750

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available