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ROBOTIC ADAPTIVE GRASPING WITH A CAPACITANCE ARRAY TACTILE SENSING SYSTEM

Award Information

Agency:
National Aeronautics and Space Administration
Branch:
N/A
Award ID:
10447
Program Year/Program:
1990 / SBIR
Agency Tracking Number:
10447
Solicitation Year:
N/A
Solicitation Topic Code:
N/A
Solicitation Number:
N/A
Small Business Information
EXTRUDE HONE CORP.
1 Industry Blvd, P.O. Box 1000 Irwin, PA 15642
View profile »
Woman-Owned: No
Minority-Owned: No
HUBZone-Owned: No
 
Phase 2
Fiscal Year: 1990
Title: ROBOTIC ADAPTIVE GRASPING WITH A CAPACITANCE ARRAY TACTILE SENSING SYSTEM
Agency: NASA
Contract: N/A
Award Amount: $407,600.00
 

Abstract:

THE NEED FOR ADAPTIVE GRASPING OF VARIOUS OBJECTS BY ONE END-EFFECTOR IS REQUIRED FOR ROBOTS DESIGNED TO OPERATE IN SPACE. THEREFORE, A SENSOR SYSTEM THAT CAN BE INTEGRATED WITH A FLEXIBLE END-EFFECTOR TO PROVIDE TARGET RECOGNITION AND CONTROLLED GRIPPING IS PROPOSED. BASIC RESEARCH HAS BEEN CONDUCTED BY THE PROPOSER ON CAPACITANCE SENSOR TECHNOLOGY, INDICATING THAT CAPACITANCE BETWEEN A SENSOR AND A TARGET CAN PRODUCE TACTILE INFORMATION. FURTHERMORE, CAPACITANCE SENSORS ARE LIGHT WEIGHT AND ROBUST THEREBY MAKING THEM EXCELLENT CANDIDATES FOR SPACE ROBOTIC SYSTEMS. PHASE I OF THE PROPOSED PROGRAM WILL INVESTIGATE THE APPLICABILITY AND ENVIRONMENTAL SUITABILITY OF THIS TECHNOLOGY TO SPACE ROBOTIC SYSTEMS. AN ADAPTIVE CONTROL PHILOSOPHY AND LIMITATIONS WILL BE ESTABLISHED BASED ON ALGORITHM SCHEMES THAT WILL BE PROPOSED. PHASE II WOULD ESTABLISH AND DEMONSTRATE ADAPTIVE, GRASPING SYSTEM BASED ON THE CAPACITANCE SENSING SYSTEM. THE SYSTEM DESIGN WILL HAVE AS AN OBJECTIVE, THE MAXIMIZING OF INFORMATION FROM A SINGLE SENSOR (OR ARRAY OF SENSORS) AND MINIMIZING THE RELIANCE ON SENSOR FUSION SCHEMES, HENCE MINIMIZING THE COMPLEXITY OF HARDWARE AND SOFTWARE.

Principal Investigator:

Donald G Risko

Business Contact:

Small Business Information at Submission:

Extrude Hone Corp.
Po Box 527 8075 Pennsylvania Ave Irwin, PA 15642

EIN/Tax ID: 340732867
DUNS: N/A
Number of Employees: N/A
Woman-Owned: No
Minority-Owned: No
HUBZone-Owned: No