INTEGRATION OF CLOSE RANGE PROXIMITY AND TACTILE SENSING

THIS PROJECT WILL TAKE AN IMPORTANT STEP TOWARD THE DEVELOPMENT OF AN INTELLIGENT GENERAL PURPOSE ROBOTIC SYSTEMCAPABLE OF OBJECT LOCATION, IDENTIFICATION, AND MANIPULATIONTHROUGH THE JUDICIAL USE OF NON-VISUAL SENSING MODALITIES. CURRENTLY, ROBOTIC APPLICATIONS IN MANUFACTURING REQUIRE A HIGHLY STRUCTURED ENVIRONMENT SO THAT POSITION CONTROL OF THE ROBOT IS SATISFACTORY FOR THE TASK (E.G., PAINT SPRAYING, SPOT-WELDING, ETC.). IN RELATIVELY UNSTRUCTURED ENVIRONMENTS SENSORS ARE REQUIRED TO PROVIDE INFORMATION FORFEEDBACK CONTROL OF THE ROBOT. THE THRUST OF THIS PHASE I RESEARCH IS TO PROVE THE FEASIBILITY OF INCORPORATING A ROBUST, MULTI-PURPOSE PROXIMITY SENSING CAPABILITY INTO OUR EXISTING TACTILE SENSOR DESIGN WITH MINIMAL MODIFICATION. WITH THE CAPABILITY OF CLOSE RANGE PROXIMITY SENSORS LOCATED ON THE FINGERS AND/OR PALM OF THE ROBOT END EFFECTOR, PROPER GRASP RENDEZVOUS WITH OBJECTS IN AN UNSTRUCTURED ENVIRONMENT CAN BE ASSURED. AFTER CONTACT IS MADE, THE HIGH RESOLUTION TACTILE SENSING CAPABILITY OF THE INTEGRATED SENSOR SYSTEM WILL VERIFY THE GRASP AND WILL PROVIDE FEEDBACK INFORMATION FOR MANIPULATION ACTIVITIES.