Sensors, Focus on Tactile, Force and Stress Sensors 2011 Part 11

Tham khảo tài liệu 'sensors, focus on tactile, force and stress sensors 2011 part 11', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Tactile Sensing for Robotic Applications 291 3. Tactile sensing why What happens if the humans have all sense modalities other than the sense of touch The importance of touch tactile sensing is implicit in this question which can be answered by performing a simple experiment of exploring the objects after putting hands on an ice block for a while or by making the hand numb through local anesthesia. In one such experiment presented in Westling Johannson 1984 the skin on volunteers hand was anesthetized so that mechanoreceptors - specialized nerve endings that respond to mechanical stimulation force - activity was no longer available to the brain. It was observed that even though volunteers could see what they were doing they could no longer maintain a stable grasp of objects. The movements become inaccurate and unstable when sense of touch is lost. Real-world objects exhibit rich physical interaction behaviors on touch. These behaviors depend on how heavy and hard the object is when hold how its surface feels when touched how it deforms on contact and how it moves when pushed etc. Sense of touch allow us not only to assess the size shape and the texture of objects but also helps in developing awareness of the body. It is also a powerful conduit for emotional connectedness. The ability to discriminate among surface textures stiffness and temperature to sense incipient slip and roll an object between fingers without dropping it are some of the reasons why touch tactile sensing is needed. In robotics the touch information is useful is a number of ways. In manipulative tasks touch information is used as a control parameter Berger Khosla 1991 Howe Cutkosky 1990 Li Hsu et al. 1989 and the required information typically includes contact point estimation surface normal and curvature measurement and slip detection Fearing 1990 through measurement of normal static forces. A measure of the contact forces allows the grasp force control which is essential for maintaining stable

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