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Proceedings Paper

Quantifying the Performance of a Tactile Sensor: A Case Study
Author(s): David M. Siegel
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Paper 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.

Paper Details

Date Published: 27 March 1987
PDF: 9 pages
Proc. SPIE 0726, Intelligent Robots and Computer Vision V, (27 March 1987); doi: 10.1117/12.937750
Show Author Affiliations
David M. Siegel, The MIT Artificial Intelligence Laboratory (United States)


Published in SPIE Proceedings Vol. 0726:
Intelligent Robots and Computer Vision V
David P. Casasent, Editor(s)

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