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This papers analyzes the reliability of radius of curvature estimates from tactile sensor data. A linear elastic model is used to t the indenter parameters, load, location, and curvature, to the sensor output. It was found that both contact models and calibration techniques could dramatically eeect the bias and variance of the estimated indenter parameters.… (More)
A linear elastic plane strain model for a cylindrical nger with a solid core and elastic surface is developed. This model is used to determine the subsurface strain impulse responses as well as pressure distributions in the contact region for indentation of the cylinder by rigid objects with friction. Singular value decomposition is used to nd a reduced… (More)
This dissertation explores the shape sensing capabilities of cylindrical tactile sensing ngers. Starting with an elastostatic model for the deformation of rubber ngers, sensor spacing and depth requirements are determined to allow reconstruction of subsurface strain elds with insigniicant aliasing. Given this bandlimited version of the strain eld,… (More)
Controlled compliance and accommodation matrix techniques are considered for robust insertion of threaded fasteners. Errors in translational positioning are shown to be easily corrected. Errors in the angle of tilt between the threaded parts are shown to be much more diicult to correct and constrain the region of convergence for simple linear techniques.
A dynamic simulation of threaded insertion is developed based on Euler's equations, impulsive forces, and a geometric description for threaded parts. Points of contact between the threaded parts are determined and tracked during the simulation. Reaction forces are computed based on the contact locations and the velocity constraints given by the kinematic… (More)