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Multi-Directional Slip Detection Between Artificial Fingers and a Grasped Object


Abstract Effective tactile sensing in prosthetic and robotic hands is crucial for improving the functionality of such hands and enhancing the user's experience. Thus, improving the range of tactile sensing capabilities is essential for developing versatile artificial hands. Multimodal tactile sensors called BioTacs, which include a hydrophone and a force electrode array, were used to understand how grip force, contact angle, object texture, and slip direction may be encoded in the sensor data. Findings show that slip induced under conditions of high contact angles and grip forces resulted in significant changes in both AC and DC pressure magnitude and rate of change in pressure. Slip induced under conditions of low contact angles and grip forces... (more)
Created Date 2012
Contributor Hsia, Albert (Author) / Santos, Veronica J (Advisor) / Santello, Marco (Committee member) / Helms Tillery, Stephen I (Committee member) / Arizona State University (Publisher)
Subject Robotics / Mechanical engineering / Biomedical engineering / Artificial Fingers / Haptic Exploration / Multimodal Tactile Sensing / Prosthetic Hands / Robotic Hands / Slip Detection
Type Masters Thesis
Extent 65 pages
Language English
Copyright
Reuse Permissions All Rights Reserved
Note M.S. Bioengineering 2012
Collaborating Institutions Graduate College / ASU Library
Additional Formats MODS / OAI Dublin Core / RIS


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Description Dissertation/Thesis