Paper Info
Title
Teleoperated Sensing by Grasping: Robot Sensors and Human Psychophysics
Abstract
An interesting problem for a robot that is manipulating an object in the environment, either directly or by using a tool, would be to perceive the length of the object and/or tool. This paper addresses the problem of length perception in a teleoperation context, using the sense of touch alone. To establish a relation between the forces acting on the robot gripper and the length of the gripped object, a rigorous mechanical analysis of the gripper-object system is performed. With regard to robotic length perception, a novel sensor that derives directly from the results obtained from the mechanical analysis is proposed. The mechanical analysis is also applied to the question of how humans perceive the length of a rod held stationary in the hand, and tested experimentally in a sequence of psychophysical investigations. The implication of this study for design of teleoperated systems under human force-reflection control is discussed.
Year
DOI
Venue
1993
10.1007/BFb0027609
ISER
Keywords
Field
DocType
human psychophysics,teleoperated sensing,robot sensors
Teleoperation,Computer vision,Robotic sensing,Force analysis,Simulation,Ground plane,Artificial intelligence,Engineering,Robot,Psychophysics,Perception
Conference
ISBN
Citations 
PageRank 
3-540-19905-5
0
0.34
References 
Authors
4
3
Name
Order
Citations
PageRank
S. R. Ganeshan152.36
R. E. Ellis25014.48
Susan J. Lederman312323.74