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Type: Conference paper
Title: Modelling and simulation of tactile sensing system of fingers for intelligent robotic manipulation control
Author: Anvar, A.
Anvar, A.
Lu, T.
Citation: MODSIM2013: 20th International Congress on Modelling and Simulation. Modelling and Simulation Society of Australia and New Zealand, December 2013 / J. Piantadosi, R. S. Anderssen and J. Boland (eds.): pp.935-941
Publisher: The Modelling and Simulation Society of Aust & NZ
Publisher Place: Australia
Issue Date: 2013
ISBN: 9780987214331
Conference Name: International Congress on Modelling and Simulation (20th : 2013 : Adelaide, South Australia)
Editor: Piantadosi, J.
Anderssen, R.S.
Boland, J.
Statement of
Amir Parsa Anvar, Amir M. Anvar, Tien-Fu Lu
Abstract: The robotic manipulation of delicate and sensitive objects is a process that necessitates tactile sensation, sensory feedback and grasping force control. To meet this requirement, work has been done towards the development of a Tactile Sensing System (TSS) for robotic manipulators, using tactile Force Sensing Resistor (FSR) technology. This work includes an experiment towards the determination of the behaviour of the underlying tactile FSR sensor, in response to inputs, the design of an Intelligent System to aid with grasping force control, the combination of hardware components into a Tactile Sensing System, the design of a practical grasping force control algorithm and a grasping force experiment, involving the application of the developed Force Feedback System. In this work, the behaviour of the FSR, in response to an increasing applied force, has been shown. Furthermore, a Fuzzy Expert System Controller that aids with grasping force control has been designed. The systems design of the developed Tactile Sensing System and the comprehensive design of a practical grasping force control algorithm have also been demonstrated. Distant robotic surgery and assessment on hand following trauma, as a result of disease or surgery, are of the future applications of this work.
Keywords: Force Sensing Resistor
Tactile Sensing System
Fuzzy Expert System Controller
Grasping Force Control
Intelligent System
Description: 22nd National Conference of the Australian Society for Operations Research — ASOR 2013 DSTO led Defence Operations Research Symposium — DORS 2013
Rights: Copyright status unknown
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Mechanical Engineering conference papers

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