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dc.contributor.authorBhattacharjee, Tapomayukhen_US
dc.contributor.authorJain, Advaiten_US
dc.contributor.authorVaish, Sarvagyaen_US
dc.contributor.authorKillpack, Marc D.en_US
dc.contributor.authorKemp, Charles C.en_US
dc.date.accessioned2013-12-18T21:36:29Z
dc.date.available2013-12-18T21:36:29Z
dc.date.issued2013-04
dc.identifier.citationTactile Sensing over Articulated Joints with Stretchable Sensors, Tapomayukh Bhattacharjee, Advait Jain, Sarvagya Vaish, Marc D. Killpack, and Charles C. Kemp, IEEE World Haptics Conference (WHC), 2013 , pp.103,108, 14-17 April 2013.en_US
dc.identifier.isbn978-1-4799-0087-9
dc.identifier.urihttp://hdl.handle.net/1853/49850
dc.description©2013 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.en_US
dc.descriptionPresented at the World Haptics Conference (WHC), 2013, 14-17 April 2013.en_US
dc.descriptionDOI: 10.1109/WHC.2013.6548392en_US
dc.description.abstractBiological organisms benefit from tactile sensing across the entire surfaces of their bodies. Robots may also be able to benefit from this type of sensing, but fully covering a robot with robust and capable tactile sensors entails numerous challenges. To date, most tactile sensors for robots have been used to cover rigid surfaces. In this paper, we focus on the challenge of tactile sensing across articulated joints, which requires sensing across a surface whose geometry varies over time. We first demonstrate the importance of sensing across joints by simulating a planar arm reaching in clutter and finding the frequency of contact at the joints. We then present a simple model of how much a tactile sensor would need to stretch in order to cover a 2 degree-of-freedom (DoF) wrist joint. Next, we describe and characterize a new tactile sensor made with stretchable fabrics. Finally, we present results for a stretchable sleeve with 25 tactile sensors that covers the forearm, 2 DoF wrist, and end effector of a humanoid robot. This sleeve enabled the robot to reach a target in instrumented clutter and reduce contact forces.en_US
dc.language.isoen_USen_US
dc.publisherGeorgia Institute of Technologyen_US
dc.subjectTactile sensingen_US
dc.subjectFabric-based stretchable sensorsen_US
dc.subjectJoint sensingen_US
dc.subjectManipulation in clutteren_US
dc.titleTactile Sensing over Articulated Joints with Stretchable Sensorsen_US
dc.typeProceedingsen_US
dc.typePost-printen_US
dc.contributor.corporatenameGeorgia Institute of Technology. Healthcare Robotics Laben_US
dc.contributor.corporatenameGeorgia Institute of Technology. Institute for Robotics and Intelligent Machinesen_US
dc.publisher.originalInstitute of Electrical and Electronics Engineersen_US
dc.identifier.doi10.1109/WHC.2013.6548392


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