Learn More
This paper presents a multi-sensor based generic approach to opening doors for a dexterous robot. Once the handle has been located by a computer vision algorithm and properly grasped, we are able to open doors without using a model or other prior knowledge of the door geometry. This is done by combining the sensor information of both a force-torque sensor(More)
This article presents the approaches taken to integrate a novel anthropomorphic robot hand into a humanoid robot. The requisites enabling such a robot hand to use everyday objects in an environment built for humans are presented. Starting from a design that resembles the human hand regarding size and movability of the mechatronical system , a low-level(More)
In this paper, a tactile sensing system for an anthropomorphic robot hand is presented. The tactile sensing system is designed as a construction kit making it very versatile. The sensor data preprocessing is embedded into the hand's hardware structure and is fully integrated. The sensor system is able to gather tactile pressure profiles and to measure(More)
The task of handling non-rigid one-dimensional objects by a robot manipulation system is investigated. To distinguish between different non-rigid object behaviors, five classes of deformable objects from a robotic point of view are proposed. Additionally , an enumeration of all possible contact states of one-dimensional objects with polyhedral obstacles is(More)
In this paper an new intelligent robot control scheme is presented which enables a cooperative work of humans and robots through direct contact interaction in a partially known environment. Because of the high flexibility and adaptability, the human-robot cooperation is expected to have a wide range of applications in uncertain environments, not only in(More)
Interventions in craniofacial surgery are a great challenge to the operating surgeon, as high precision and long practise are required to perform optimal bone repositionings and to achieve and aesthetic and satisfactory result. Although methods and devices for the preoperative planning of bone repositionings do already exist, the accurate intraoper-ative(More)
3D shape sensing using Fiber Bragg gratings has attracted the interest of several research groups in recent years, but so far no possibility has been presented to optimize the sensing system by simulation. Almost always, the gratings (the points of strain measurement) are distributed equidistantly, and the reconstruction algorithm has not been verified by(More)