Design and control of a multi-fingered robot hand provided with tactile feedback

The design, construction, control and application of a three fingered robot hand with nine degrees of freedom and built-in multi-component force sensors is described. The adopted gripper kinematics are justified and optimized with respect to grasping and manipulation flexibility. The hand was constructed with miniature motor drive systems imbedded into the fingers. The control is hierarchically structured and is implemented on a simple PC-AT computer. The hand's dexterity and intelligence are demonstrated with some experiments

Force/torque and tactile sensors for sensor-based manipulator control

The autonomy of manipulators, in space and in industrial environments, can be dramatically enhanced by the use of force/torque and tactile sensors. The development and future use of a six-component force/torque sensor for the Hermes Robot Arm (HERA) Basic End-Effector (BEE) is discussed. Then a multifunctional gripper system based on tactile sensors is described. The basic transducing element of the sensor is a sheet of pressure-sensitive polymer. Tactile image processing algorithms for slip detection, object position estimation, and object recognition are described

DEPTH PROFILE AND STRESS MEASUREMENTS ON IMPLANTED LAYERS

The properties of a metal surface can be enhanced by implantation with noble gas ions. Implantation has its effect on the stress state of the material. In this work, SS304 stainless steel is implanted with Ne+.SS304 bears the property of being easily transformable from the face centered cubic (fee) phase to the body centered cubic (bcc) phase. Before the implantation the SS304 samples were stress free and completely of the fee phase, after the implantation bcc phase material is present and the implanted layer is in a compressive stress state. By using a different approach towards glancing angle X-ray diffraction we were able to measure a depth profile of the bcc material and to measure the stresses in the 0.1 mu m thick implanted layer

Nucleotide-sequence of a transactivating bombyx-mori nuclear polyhedrosis-virus immediate early gene

The open reading frame (ORF) of 1572 bp contained in the 3.8 kb ClaI fragment of BmNPV encodes a viral regulatory protein which transactivates the delayed early AcMNPV 39K gene. Transactivation is induced in uninfected cells following transfection with a plasmid containing only the ClaI fragment. Hitherto immediate early gene promoter activity of the included 631 bp leader sequence is evident since no other viral elements are needed for the transcription of the regulatory gene.status: publishe