Date: Tue, 26 Nov 1996 00:01:28 GMT Server: Apache/1.2-dev Connection: close Content-Type: text/html Last-Modified: Mon, 26 Aug 1996 18:15:09 GMT ETag: "5d876-900-3221e9ad" Content-Length: 2304 Accept-Ranges: bytes
The group is headed by Dr. Kenneth Salisbury. (This page is currently under construction and very incomplete.) Other groups also headed by Ken are the Haptic Interfaces Group and the Vision and Touch Guided Manipulation Group.
The people in the Robot Hands Group are:
Above is a photo of the Phantom as a finger, with a six axis force/torque sensor. The device is being used to touch and explore objects with force sensing.
The prototype touch observer software monitors the vibration level measured by the force sensor on the above finger and segments similiar components. By matching these pieces to prior experience the touch observer can be used to write event driven robot programs.
Application
of Change Detection to Dynamic Contact Sensing: Eberman, Salisbury
Int. J. of Robotics Research, 13(5), 1994.