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Tesi etd-07272015-123302


Tipo di tesi
Tesi di laurea magistrale
Autore
CIOTTI, SIMONE
URN
etd-07272015-123302
Titolo
Technologies and algorithms for the development of distributed intrinsic tactile sensors
Dipartimento
INGEGNERIA DELL'INFORMAZIONE
Corso di studi
INGEGNERIA ROBOTICA E DELL'AUTOMAZIONE
Relatori
relatore Dott. Bianchi, Matteo
relatore Ing. Battaglia, Edoardo
relatore Prof. Bicchi, Antonio
Parole chiave
  • contact point
  • deformable surface
  • distributed intrinsic tactile sensors
  • soft surface
  • tactile algorithms
  • tactile sensors
  • tactile technologies
  • tactile toolbox
Data inizio appello
24/09/2015
Consultabilità
Non consultabile
Data di rilascio
24/09/2085
Riassunto
In this work, we present two main contributions, one theoretical and the other one technical, to advance the state of the art in grasp analysis.
Under a theoretical point of view, we propose an approach that extends the intrinsic contact sensing to compliant deformable surfaces. This technique is based on simple geometrical considerations, and on the force-elongation characteristics of the touched object. Experiments with real specimens with different stiffness show the effectiveness of this approach.
Under a technical point of view, we provide the Tactile Toolbox an exhaustive GUI user-friendly and "plug and-play" software implementation, that provides
· Interface for reading force/torque from any sensor
· Implementation of the intrinsic contact sensing for rigid surfaces
· Implementation of the proposed approach for deformable surfaces
· Real-time 3D graphical visualization of the surfaces with contact phenomena information
· Linear and torsional static friction coefficient estimation
This toolbox is a powerful and versatile application that can be used to study different aspects of grasping, with an easily applicable approach to contact sensing in an effective and easy-to-use manner. The toolbox can be easily adopted in conjunction with wearable force/torque sensors.
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