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Suche nach „[V.] [Jankovics]“ hat 5 Publikationen gefunden
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    DigitalNachhaltigEuropan Campus Rottal-Inn

    Beitrag (Sammelband oder Tagungsband)

    Stefan Mátéfi-Tempfli, P. Manoonpong, V. Jankovics

    Artifcial neural network based complaint control for robot arms

    From Animals to Animats 14, vol. 9825

    2016

    ISBN: 978-3-319-43488-9

    DigitalNachhaltigEuropan Campus Rottal-Inn

    Beitrag (Sammelband oder Tagungsband)

    M. Gorsic, A. Drimus, Stefan Mátéfi-Tempfli, V. Jankovics

    High Resolution Tactile Sensors for Curved Robotic Fingertips

    Biomimetic and Biohybrid Systems, Cham, vol. 8608 : Lecture notes in artificial intelligence

    2014

    ISBN: 978-3-319-09435-9

    DOI: 10.1007/978-3-319-09435-9_37

    Abstract anzeigen

    Tactile sensing is a key element for various animals that interact with the environment and surrounding objects. Touch provides information about contact forces, torques and pressure distribution and by the means of exploration it provides object properties such as geometry, stiffness and texture[5]. For humans, extracting high level information from touch provides a better understanding of the objects manipulated while for insects it is essential for locomotion[3]. While robot designers have been using vision systems to provide the robot with information about its surroundings, this is not always trivial to obtain, dealing with limited accuracy, occlusions and calibration problems. In terms of sensors for static stimuli, such as pressure, there are a range of technologies that can be used to manufacture transducers with various results[5]. A simple approach is to use fingertips with a 6-DOF force-torque sensor for estimating contact conditions[1], but this only allows a single point of contact and is costly. In terms of fingertip and foot tip prototypes, tactile sensors are used for multi modal sensing, similar to biology, for pressure and dynamic stimuli. In this respect Hosoda et al. [4] propose an anthropomorphic fingertip which has randomly distributed straingauges and PVDF (polyvinylidene fluoride) transducers. In [7] a biomimetic tactile array is proposed that shows a low hysteresis and good sensitivity for skin like deformations.

    DigitalEuropan Campus Rottal-Inn

    Zeitschriftenartikel

    M. Gorsic, A. Drimus, Stefan Mátéfi-Tempfli, V. Jankovics

    Novel high resolution tactile robotic fingertips

    IEEE SENSORS, pp. 791-794

    2014

    DOI: 10.1109/ICSENS.2014.6985118

    Abstract anzeigen

    This paper describes a novel robotic fingertip based on piezoresistive rubber that can sense pressure tactile stimuli with a high spatial resolution over curved surfaces. The working principle is based on a three-layer sandwich structure (conductive electrodes on top and bottom and piezoresistive rubber in the middle). For the conductive layers we use ring patterns of silver epoxy and flex PCB electrode arrays. The proposed sensorised fingertip has 60 sensitive regions (taxels) arranged in 5 rings and 12 columns that have a smooth pressure to resistance characteristic. Using the sensor with specialized data acquisition electronics that acquire 500 frames per second provides rich information regarding contact force, shape and angle for bio-inspired robotic fingertips. Furthermore, a model of estimating the force of contact based on values of the cells is proposed.

    NachhaltigEuropan Campus Rottal-Inn

    Vortrag

    M. Gorsic, A. Drimus, Stefan Mátéfi-Tempfli, V. Jankovics

    High Resolution Tactile Sensors for Curved Robotic Fingertips

    3rd International Conference on "Living Machines", Mailand, Italien

    NachhaltigEuropan Campus Rottal-Inn

    Vortrag

    M. Gorsic, A. Drimus, Stefan Mátéfi-Tempfli, V. Jankovics

    Novel high resolution tactile robotic fingertips

    IEEE SENSORS 2014, Valencia, Spanien