Learn More
This paper introduces the iRobot-Harvard-Yale (iHY) Hand, an underactuated hand driven by 5 actuators that is capable of performing a wide range of grasping and in-hand repositioning tasks. This hand was designed to address the need for a durable, inexpensive, moderately dexterous hand suitable for use on mobile robots. The primary focus of this paper will(More)
—This paper presents a new approach to the construction of tactile array sensors based on barometric pressure sensor chips and standard printed circuit boards. The chips include tightly integrated instrumentation amplifiers, analog-to-digital converters, pressure and temperature sensors, and control circuitry that provides excellent signal quality over(More)
This article presents a new approach to the construction of tactile array sensors based on barometric pressure sensor chips and standard printed circuit boards (PCBs). The chips include tightly integrated instrumentation amplifiers, analog-to-digital converters, pressure and temperature sensors, and control circuitry that provides excellent signal quality(More)
Limitations in modern sensing technologies result in large errors in sensed target object geometry and location in unstructured environments. As a result, positioning a robotic end-effector includes inherent error that will often lead to unsuccessful grasps. In previous work, we demonstrated that optimized configuration, compliance, viscosity, and(More)
Many applications for tactile sensors require a flexible, stretchable array to allow installation on curved surfaces or to measure forces on deformable objects. This paper presents a sensor array created with barometers and flexible printed circuit boards that delivers high sensitivity on a flexible, stretchable package using commercial off-the-shelf (COTS)(More)
Grasping and manipulation in unstructured environments must handle a wide range of object properties and significant sensing errors. Underactuation and compliance have been shown to be an effective way to improve grasping performance under such uncertainty, but the degree of compliance plays an important role in both gently adapting to sensing errors and(More)
Strokes affect over 750,000 people annually in the United States. This significant and disabling condition can result in paralysis that must be treated by regular sessions with a dedicated physical therapist in order to regain motor function. However, the use of therapists is expensive, in high demand, and requires patient travel to a rehabilitation clinic.(More)
To determine object geometry in unstructured environments, sensors must be mechanically robust, must exert only low forces on objects during exploration, and must be able to scan large regions efficiently without risk of damaging objects or sensors. Joint-angle sensors on compliant joints provide an appealing option for this task. An algorithmic framework(More)