Design of Tactile Fixtures for Robotics and Manufacturing

1997 ◽  
Vol 119 (2) ◽  
pp. 204-211 ◽  
Author(s):  
W. W. Nederbragt ◽  
B. Ravani
Keyword(s):  
Group Theory ◽  
Theoretical Framework ◽  
Tactile Sensing ◽  
Fixture Design ◽  
Contact Conditions ◽  
And Robotics

This paper presents a theoretical framework for the design of tactile sensing fixtures for robotics and manufacturing. The framework presented uses group theory to analyze the symmetry of contact conditions on a fixture to evaluate a fixture design for referencing the sensor frame with respect to the fixture frame. Mechanical fixtures consisting of planar, spherical, and cylindrical surfaces are studied for their usefulness as part of referencing fixtures. The theory developed is used in guiding the design of a simple yet novel touch sensing fixture for part referencing and calibration in manufacturing and robotics.

Design of Tactile Fixtures for Robotics and Manufacturing

1996 ◽  
Author(s):  
Walter W. Nederbragt ◽  
Bahram Ravani
Keyword(s):  
Group Theory ◽  
Theoretical Framework ◽  
Tactile Sensing ◽  
Fixture Design ◽  
Relative Location ◽  
Contact Conditions ◽  
And Robotics

Abstract This paper presents a theoretical framework for the design of tactile sensing fixtures for robotics and manufacturing. The framework presented uses group theory to analyze the symmetry of contact conditions on a fixture to determine if a fixture design is appropriate to determine the relative location of the sensor frame with respect to the fixture frame. Mechanical fixtures consisting of planar, spherical, and cylindrical surfaces are studied for their usefulness as part of referencing fixtures. The theory developed is used in guiding the design of a simple yet novel touch sensing fixture for part referencing and calibration in manufacturing and robotics.

Enumeration of Contact Geometries for Kinematic Registration Using Tactile Sensing Fixtures

2005 ◽  
Vol 128 (1) ◽  
pp. 34-45 ◽  
Author(s):  
Walter W. Nederbragt ◽  
Bahram Ravani
Keyword(s):  
Group Theory ◽  
Data Driven ◽  
Tactile Sensing ◽  
Geometric Features ◽  
Type Synthesis ◽  
Robot Calibration ◽  
Planar Surfaces ◽  
Spherical Surfaces ◽  
Kinematic Registration ◽  
Geometric Elements

This paper uses group theory for enumeration of contacts between geometric elements necessary for kinematic registration or part referencing in robotics. The results are applied to type synthesis of tactile sensing mechanical fixtures. Kinematic registration is an important step in robot calibration and in data driven automation. Although the scope of the paper is limited to geometric contacts involving points, lines, planar surfaces, cylindrical surfaces, and spherical surfaces, the techniques developed are general and can be applied to other geometric features and non-tactile sensing elements used in robotic calibration and part referencing.

Optimal Design of Self-Adaptive Fingers for Proprioceptive Tactile Sensing

2017 ◽  
Vol 9 (5) ◽  
Author(s):  
Bruno Belzile ◽  
Lionel Birglen
Keyword(s):  
Optimal Design ◽  
Proximal Phalanx ◽  
Optimization Procedure ◽  
Theoretical Framework ◽  
Alternative Methods ◽  
Tactile Sensing ◽  
Sense Of Touch ◽  
Novel Design ◽  
Range Of Values ◽  
Self Adaptive

The sense of touch has always been challenging to replicate in robotics, but it can provide critical information when grasping objects. Nowadays, tactile sensing in artificial hands is usually limited to using external sensors which are typically costly, sensitive to disturbances, and impractical in certain applications. Alternative methods based on proprioceptive measurements exist to circumvent these issues but they are designed for fully actuated systems. Investigating this issue, the authors previously proposed a tactile sensing technique dedicated to underactuated, also known as self-adaptive, fingers based on measuring the stiffness of the mechanism as seen from the actuator. In this paper, a procedure to optimize the design of underactuated fingers in order to obtain the most accurate proprioceptive tactile data is presented. Since this tactile sensing algorithm is based on a one-to-one relationship between the contact location and the stiffness measured at the actuator, the accuracy of the former is optimized by maximizing the range of values of the latter, thereby minimizing the effect of an error on the stiffness estimation. The theoretical framework of the analysis is first presented, followed by the tactile sensing algorithm, and the optimization procedure itself. Finally, a novel design is proposed which includes a hidden proximal phalanx to overcome shortcomings in the sensing capabilities of the proposed method. This paper demonstrates that relatively simple modifications in the design of underactuated fingers allow to perform accurate tactile sensing without conventional external sensors.

Mind wandering as data augmentation: How mental travel supports abstraction

2020 ◽  
Vol 43 ◽  
Author(s):  
Myrthe Faber
Keyword(s):  
Machine Learning ◽  
Data Augmentation ◽  
Mental Content ◽  
Mind Wandering ◽  
Theoretical Framework ◽  
Important Addition

Abstract Gilead et al. state that abstraction supports mental travel, and that mental travel critically relies on abstraction. I propose an important addition to this theoretical framework, namely that mental travel might also support abstraction. Specifically, I argue that spontaneous mental travel (mind wandering), much like data augmentation in machine learning, provides variability in mental content and context necessary for abstraction.

Group Theory

2009 ◽  
Author(s):  
Pierre Ramond
Keyword(s):  
Group Theory
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