Anthropomorphic robot finger with multi-point tactile sensation

Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2001.Includes bibliographical references (p. 84-95).The goal of this research is to develop the prototype of a tactile sensing platform for anthropomorphic manipulation research. We investigate this problem through the fabrication and simple control of a planar 2-DOF robotic finger inspired by anatomic consistency, self-containment, and adaptability. The robot is equipped with a tactile sensor array based on optical transducer technology whereby localized changes in light intensity within an illuminated foam substrate correspond to the distribution and magnitude of forces applied to the sensor surface plane [58]. The integration of tactile perception is a key component in realizing robotic systems which organically interact with the world. Such natural behavior is characterized by compliant performance that can initiate internal, and respond to external, force application in a dynamic environment. However, most of the current manipulators that support some form of haptic feedback, either solely derive proprioceptive sensation or only limit tactile sensors to the mechanical fingertips. These constraints are due to the technological challenges involved in high resolution, multi-point tactile perception. In this work, however, we take the opposite approach, emphasizing the role of full-finger tactile feedback in the refinement of manual capabilities. To this end, we propose and implement a control framework for sensorimotor coordination analogous to infant-level grasping and fixturing reflexes. This thesis details the mechanisms used to achieve these sensory, actuation, and control objectives, along with the design philosophies and biological influences behind them. The results of behavioral experiments with the tactilely-modulated control scheme are also described. The hope is to integrate the modular finger into an engineered analog of the human hand with a complete haptic system.by Jessica Lauren Banks.S.M

Theorizing technology affordances in digital innovation: evidence from an interactive voice response pilot project for low-income markets in Ghana

This thesis consists of three studies that examine the role and dynamics of technology affordances in digital innovation. Following the work of James J. Gibson (1977, 1986), technology affordances refer to all possible actions corresponding to the materiality of technological artifacts in relationship with humans and the environment (Hutchby 2001). The studies use empirical evidence from the same case study– a pilot project introducing interactive voice response (IVR) with savings clients of a savings and loans company in Ghana in 2017-2018. Each study is distinct in its focus and builds upon different aspects of the concept of affordances within the Information Systems (IS) literature. The first study focuses on the practice and processes of innovating done by innovation leaders (managers). The findings suggest that innovation occurs through patterns which involve innovation leaders’ conceptualizations of technology affordances and their applications. The second study focuses on how an affordance lens can be used to explain IT-associated change, specifically the phenomenon of strategic customer targeting. The findings suggest that the relationships among technologies, humans, and their environments are generating IT-associated changes within an organizational context by enabling strategic customer targeting through patterns of applied affordances in digital innovation. The third study focuses on the relationship between technology and anthropomorphic perceptions among technology users. The findings suggest that affordance-related patterns exist which individually and jointly enable the technology to exhibit human-like qualities within the user-technology interaction. All three studies develop arguments around the logics and consequences of technology affordances: how they are perceived and/or enacted within various technology development and diffusion 9 processes. From the analyses, the research explicates the relationship between digital materiality and digital innovation for an improved understanding of the role of the digital artifact in innovation