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Active Touch Sensing

Research and Teaching Output of the MIT Community

Show simple item record Hillis, William Daniel en_US 2004-10-04T14:52:52Z 2004-10-04T14:52:52Z 1981-04-01 en_US
dc.identifier.other AIM-629 en_US
dc.description.abstract The mechanical hand of the future will roll a screw between its fingers and sense, by touch, which end is which. This paper describes a step toward such a manipulator ?? robot finger that is used to recognize small objects by touch. The device incorporates a novel imaging tactile sensor ?? artificial skin with hundreds of pressure sensors in a space the size of a finger tip. The sensor is mounted on a tendon-actuated mechanical finger, similar in size and range of motion to a human index finger. A program controls the finger, using it to press and probe the object placed in front of it. Based on how the object feels, the program guesses its shape and orientation and then uses the finger to test and refine the hypothesis. The device is programmed to recognize commonly used fastening devices ??ts, bolts, flats, washers, lock washers, dowel pins, cotter pins and set screws. en_US
dc.format.extent 8289223 bytes
dc.format.extent 6177137 bytes
dc.format.mimetype application/postscript
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dc.language.iso en_US
dc.relation.ispartofseries AIM-629 en_US
dc.title Active Touch Sensing en_US

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