Contact Sensing from Force Measurements

摘要: This paper addresses contact sensing, i.e. the problem of resolving location a contact, force at interface and moment about normals. Called ``intrinsic'''' sensing for use internal torque measurements, this method allows practical devices which provide simple, relevant information in robotic applications. Such sensors have been used conjunction with robot hands to identify objects, determine surface friction, detect slip, augment grasp stability, measure object mass, probe surfaces, control collision variety other useful tasks. describes theoretical basis their operation provides framework future device design.