Document Type
Thesis
Date of Award
5-31-1990
Degree Name
Master of Science in Electrical Engineering - (M.S.)
Department
Electrical and Computer Engineering
First Advisor
HouEdwin Hou Edwin
Second Advisor
Marshall Chuan Yung Kuo
Third Advisor
Irving Y. Wang
Abstract
The precision and dexterity of a manipulator hand critically depends on the proper extraction and processing of sensory information. This thesis describes how a sensor system equipped with fingertip sensors and strain gauges can provide proper feedback to drive the grasp kinematics of an articulated robot hand. The grasp kinematic that provide the manipulator hand with precision and dexterity is based on impedance control. The fingertip sensors and the strain gauges are constructed of piezoresistive materials for force transduction. Through optimization, based on the sensitivity and capability of the sensors, a synergism of force and contact information can be obtained to achieve precise control and dextrous manipulation of the robot.
Recommended Citation
Sucahyo, Narendra, "Multi-sensor system for an articulated robot hand" (1990). Theses. 2959.
https://digitalcommons.njit.edu/theses/2959
