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In this paper, we introduce a tactile sensor which is able to measure the three-dimensional deformation and load simultaneously. The sensor mainly consists of a transparent and elastic body, an 8 × 8 array of markers on the surface of the body and a camera which are used to observe the markers. We present a DFD(Depth from Defocus) algorithm to recover the normal displacement field which has not been...
Robotic grasping of a deformable object is difficult not simply due to the high computational cost of deformable modeling. More fundamentally, the difficulty lies in a wrench space that changes under deformation, with growing contact areas, and subject to varying slip/stick modes in these areas. This paper presents a grasping strategy by squeezing the object with two fingers. An analysis based on...
Grasping a deformable object instantaneously requires maintaining equilibrium of its pre- and post-deformed shapes using the same set of forces. This paper studies the type of grasps generated by squeezing a planar object with two fingers. It is shown that the success of such a grasp is independent of the applied forces in the case of small deformation. Numerical algorithms are introduced to compute...
To test a modified otologic drill under different drilling conditions for its ability to identify drilling faults and stop drilling.Based on force analysis and previous works, anotologic drill was modified and equipped with three sensors. Under various conditions, the drill was used to simulate three drilling faults and normal drilling, and signals from the drill were analyzed to extract the characteristic...
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