A SYSTEMATIC STUDY OF CAPACITANCE TECHNOLOGY FOR TACTILE SENSING REQUIREMENTS, INCLUDING REAL TIME SENSING OF SLIPPAGE

Award Information
Agency: Department of Energy
Branch: N/A
Contract: N/A
Agency Tracking Number: 2488
Amount: $410,000.00
Phase: Phase II
Program: SBIR
Awards Year: 1986
Solicitation Year: N/A
Solicitation Topic Code: N/A
Solicitation Number: N/A
Small Business Information
Extrude Hone Corp.
8075 Pennsylvania Avenue, Irwin, PA, 15642
DUNS: N/A
HUBZone Owned: N
Woman Owned: N
Socially and Economically Disadvantaged: N
Principal Investigator
 Mr. Donald G. Risko
 Principal Investigator
 (412) 863-5900
Business Contact
Phone: () -
Research Institution
N/A
Abstract
THE NEED FOR TACTILE SENSORS FOR GRIPPING MEMBERS EMPLOYED IN INTELLIGENT MACHINES HAS BEEN SHOWN IN THE ROBOTICS FIELD. THE SENSING NEEDS INCLUDE SHAPES, FEATURES, FORCE, TEXTURE, PROXIMITY, AND SLIPPAGE. PHASE I WILL ADDRESS CAPACITANCE TECHNIQUES FOR MEASURING TEXTURE AND SLIPPAGE. PHASE II WOULD INCLUDE SENSING OF SHAPES, FEATURES, AND PROXIMITY IN THE SAME CAPACITANCE SENSOR ARRAY AS IS CONTEMPLATED IN PHASE I. PHASE I SHOULD PRODUCE A MULTI-SENSOR ARRAY AND ASSOCIATED ELEXTRONICS TO MEASURE SURFACE TEXTURE ON THE WORKPIECE WHERE GRIPPING TAKES PLACE. THE ARRAY WILL BE SENSITIVE TO THE FACT THAT NO SLIPPAGE IS TAKING PLACE BY MEANS OF CONSTANT SIGNALS FROM EACH OF THE SENSORS. THE APPROACH IS A COMBINATION OF THESE ULTRA- SENSITIVE SENSORS AND THE KNOWLEDGE THAT ANY TWO SAMPLES OF SURFACE TEXTURE ON A SURFACE WILL BE AT LEAST 10% APART. THUS, THE ONSET OF MOVEMENT WILL BE OBSERVED BY DETECTABLE VARIATIONS IN SENSOR OUTPUT. A SPECIAL PURPOSE TEST FIXTURE WILL BE USED TO MEASURE RESPONSE TIME. ALGORITHMS WILL BE DESIGNED TO INTERROGATE THE SENSOR ARRAY AND POST PROCESS THE SIGNAL INFORMATION.

* information listed above is at the time of submission.

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