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 Human and Robot Hands

Human and Robot Hands

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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:


Grasp Gaits

Coming soon...

A NewHand

Coming soon...

Phantom as a Finger

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 Touch Observer

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.

Recent Papers in Human and Robot Hands

* Segmentation and Interpretation of Temporal Contact Signals: Eberman, Salisbury, International Symposium on Experimental Robotics, October 1993, Kyoto Japan.

* Application of Change Detection to Dynamic Contact Sensing: Eberman, Salisbury Int. J. of Robotics Research, 13(5), 1994.


jks-folks@ai.mit.edu