Design of a Modular Tactile Sensor and Actuator Based on an Electrorheological Gel

Richard Voyles, Gary K. Fedder, and Pradeep Khosla
Proceedings of 1996 IEEE International Conference on Robotics and Automation, April, 1996, pp. 13 - 17.


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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 K. 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 K 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",
}