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Carnegie Mellon Robotics Institute

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Abstract

We present the design of a modular tactile sensor and actuator system for observing human demonstrations of contact tasks. The system consists of three interchangeable parts: an intrinsic tactile sensor for measuring net force/torque, an extrinsic tactile sensor for measuring contact distributions, and a tactile actuator for displaying tactile distributions. The novel components are the extrinsic sensor and tactile actuator which are "inside-out symmetric" to each other and employ an electrorheological gel for actuation.

Notes

Text Reference

Richard Voyles, Gary Fedder, and Pradeep Khosla, "Design of a Modular Tactile Sensor and Actuator Based on an Electrorheological Gel," Proceedings of 1996 IEEE International Conference on Robotics and Automation, April, 1996, pp. 13 - 17.

BibTeX Reference

@inproceedings{Voyles_1996_2289,
   author = "Richard Voyles and Gary Fedder and Pradeep Khosla",
   title = "Design of a Modular Tactile Sensor and Actuator Based on an Electrorheological Gel",
   booktitle = "Proceedings of 1996 IEEE International Conference on Robotics and Automation",
   pages = "13 - 17",
   month = "April",
   year = "1996",
   volume = "1",
}

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