CMU MEMS Laboratory Publication Abstract


in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pp. 13-17, April 22-28, 1996, Minneapolis, MN.
Design of a Modular Tactile Sensor and Actuator Based on Electrorheological Gel
R. M. Voyles, G. Fedder and P. Khosla
We present the design of a modular tactile sensor and actuator system for observing human demonstrations of contact tasks. The system consists of three interchangeable parts: an intrinsic tactile sensor for measuring net force/torque, an extrinsic tactile sensor for measuring contact distributions, and a tactile actuator for displaying tactile distributions. The novel components are the extrinsic sensor and tactile actuator which are "inside-out symmetric" to each other and employ an electrorheological gel for actuation.
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Full paper (PDF) (opens in new window).

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