A modular fingertip design for normal force feedback control of a 3-fingered dextrous robotic hand

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dc.contributor.advisorCheatham, John B., Jr.
dc.creatorGrisham, Joe Paul
dc.date.accessioned2009-06-03T23:59:21Z
dc.date.available2009-06-03T23:59:21Z
dc.date.issued1992
dc.description.abstractDespite the advances in dextrous hand mechanics over the past decade, fingertip force remains predominantly controlled by flexor cable tension and joint position. A modular fingertip normal force sensor is developed here from basic semiconducting elastomer devices. Construction techniques are defined to shape standard Interlink Force Sensitive Resistors within a conformal mold of the human thumb and provide standard plug-in capability. Current-to-voltage electronic circuits are incorporated to linearize output and minimize the total sensor package. The sensor system is installed on each of three fingers and demonstrated to provide full control in elementary grasping strategies of a robotic hand.
dc.format.extent139 p.en_US
dc.format.mimetypeapplication/pdf
dc.identifier.callnoThesis M.E. 1992 Grisham
dc.identifier.citationGrisham, Joe Paul. "A modular fingertip design for normal force feedback control of a 3-fingered dextrous robotic hand." (1992) Master’s Thesis, Rice University. <a href="https://hdl.handle.net/1911/13653">https://hdl.handle.net/1911/13653</a>.
dc.identifier.urihttps://hdl.handle.net/1911/13653
dc.language.isoeng
dc.rightsCopyright is held by the author, unless otherwise indicated. Permission to reuse, publish, or reproduce the work beyond the bounds of fair use or other exemptions to copyright law must be obtained from the copyright holder.
dc.subjectMechanical engineering
dc.subjectElectronics
dc.subjectElectrical engineering
dc.titleA modular fingertip design for normal force feedback control of a 3-fingered dextrous robotic hand
dc.typeThesis
dc.type.materialText
thesis.degree.departmentMechanical Engineering
thesis.degree.disciplineEngineering
thesis.degree.grantorRice University
thesis.degree.levelMasters
thesis.degree.nameMaster of Science
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