A Hand Prototype

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A Hand Prototype

• Eduardo Torres-Jara
• CSAIL- MIT

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Prototype
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Approach

• Sensor based instead of model based
• Developing touch sensing instead of vision
• Real contact with the world
• Less risky for environment and robot itself
  because of compliance

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Hand Features

• Force sensing at fingertips
• High spatial resolution
• Force sensing at joints
• Mechanical compliance
• Low impedance
• Shock resistance

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Finger
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Tactile Sensors

• Array of Force Sensing Resistors (FSR)
• Resolution 200 points per inch.
• Report X, Y coordinates and force (7 bit res.)

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Actuator

• Small Rotary Elastic Actuator

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Decoupling for grasping
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Rotating Fingers
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Hardware Architecture

• Force actuators controlled by DSP
• Tactile sensors read by PICs
• Integration by DSP56F807