HIGH DENSITY TACTILE SENSOR ARRAYS FOR CURVED SURFACES ON FINGER SEGMENTS AND TIPS

Award Information
Agency: National Science Foundation
Branch: N/A
Contract: N/A
Agency Tracking Number: 7474
Amount: $49,000.00
Phase: Phase I
Program: SBIR
Awards Year: 1988
Solicitation Year: N/A
Solicitation Topic Code: N/A
Solicitation Number: N/A
Small Business Information
Bonneville Scientific Inc
918 East 900 South, Salt Lake City, UT, 84105
DUNS: N/A
HUBZone Owned: N
Woman Owned: N
Socially and Economically Disadvantaged: N
Principal Investigator
 ALLEN R GRAHN
 () -
Business Contact
Phone: () -
Research Institution
N/A
Abstract
HIGH DENSITY TACTILE SENSOR ARRAYS BASED UPON ULTRASONIC PULSE-ECHO RANGING WILL BE DEVELOPED TO COVER CURVED SURFACES OF A DEXTEROUS ROBOTIC HAND. AN ARRAY OF TRANSDUCERS GENERATE ULTRASONIC PULSES WHICH TRAVERSE AN OVERLYING ELASTOMER SHEET AND ARE REFLECTED AT ITS UPPER SURFACE AND RETURN TO THE TRANSDUCERS. A MEASUREMENT OF THE TIME-OF-FLIGHT CORRESPONDS TO THE THICKNESS OF THE SHEET. WHEN THESE SENSORS ARE USED ON A ROBOT END EFFECTOR TO GRASP AN OBJECT, THE INDUCED DEFORMATION OF THE SHEET IS INDICATED BY A CHANGE IN THE TIME-OF-FLIGHT. THIS PROPOSAL ADDRESSES THE PROBLEMS ASSOCIATED WITH PLACING THESE SENSORS ON CURVED SURFACES ON THE FINGER SEGMENTS AND HEMISPHERICAL FINGER TIPS OF A DEXTEROUS ROBOTIC HAND. HIGH DENSITY ARRAYS WITH ELEMENTS 0.5-3 MM SQUARE PROPOERLY DISTRIBUTED ON ALL SURFACES WILL GIVE A MECHANICALHAND NEAR ANTHROPOMORPHIC TOUCH SENSING CAPABILITY.

* information listed above is at the time of submission.

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