PhD Student Marco Maggiali

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1 PhD Student Marco Maggiali

2 MAC-HAND Four fingered hand Twelve degrees of freedom (DOF) Tendons driven (4 for each finger) Absolute Position Sensors Force Sensors Tactile Sensors

3 MAC-HAND Architecture Supervisor PC Motor Control System Microcontroller C166 Control Driver Modules Control Driver Motors Block Motor Hand Finger Field Bus (CAN) Elaboration and Amplification Joint Sensor Feedback System Position Sensors Sensors Control Force Sensor Microcontroller PIC18F458 Force Sensors Field Bus (CAN) Tactile Sensor Tactile Sensors

4 State of Art Salisbury 1983

5 State of Art (1) Dist Hand 1999

6 State of Art (2) DLR II Hand 2004 Six-axis force sensor with strain gauges and embedded electronics. It mounted in the fingertip. Ad hoc Serial Communication to the Supervisor-PC.

7 State of Art (3) RTR II Hand Scuola superiore Sant anna Three ON-OFF axis tactile force sensor with that strain gauges covers installed the in the phalanges. fingertip. Also The electronics in this case needed there is for a flatcable from is in the the sensor palm. finger to the palm. 3 identical fingers 10 degrees of freedom, only 4 actuated. One motor for each finger and one for the thumb.

8 State of Art (4) Conclusion Provide with sensors all the surface, Embedded Electronics. Ad hoc force sensor.

9 Objectives Provide with sensors all the phalanges. Put the electronic boards into the phalanges (reducing cables) Communication Modular design Use of components off the shelf

10 Contact Sensing from Force and Torque Measurements A.Bicchi, J. Salisbury Contact Centroid Given a surface S and a distribution Δ of compressive tractions applied on it, a contact centroid C for S and Δ is a point on S such that a set of forces equivalent to Δ exists With a six-axis force torque sensor, it is possible to obtain the Contact Centroid, force and torque resultant. f = p m = q+ c p With f and m the measured quantities, c the centre of the contact, p and q respectively force and torque resultant.

11 Sensor Architecture Using a three axis force sensors combined to an analog tactile matrix sensor, is possible reconstruct the point of contact and the resultant force in each phalange: Three axis force sensors Tactile Sensor

12 Contact Ellipsoide (1/2) Contact ellipsoid: c E = = N N x i, j i, j i= 1 j= 1 N N N i= 1 j= 1 N i= 1 j= 1 x p( ) x p( ) i, j ( )( ) p( ) T i, j i, j i, j N c x x x N i= 1 j= 1 x p( ) i, j c Where C is the computed contact centroid, x i,j is the coordinate of the taxel and p(x i,j ) the weight of this and E is a symmetric matrix who represent the ellipse.

13 Contact Ellipsoide (2/2) Once calculate the contact ellipsoide, with the three axis force sensor is possible measure the three components of the force applied in that point. Contact Ellipsoid

14 How to do this... How to design a force sensor and a tactile sensor y

15 Force Sensor... y

16 Force Sensor with QTC 4 pills with resistive rubber QTC (Quantum Tunneling Composite) Weathstone Bridge configuration z x y

17 Optical Three Axis Force Sensor 4 optical sensor positioned in a cross-shaped Size: 15mm x 10mm

18 Hall Effect Three Axis Force 4 Hall effect sensor Weathstone Bridge configuration Size: 14.5mm x 10mm Sensor 3mm 3mm

19 Custom Force Sensor (conclusions) Difficulty to reproduce many sensors with the same characteristic Bad linearity A little bit too big

20 Force Sensor... y

21 Force Sensor

22 Force Sensor (2) Functional Schema δ z Δ Vz = Vs 2(2 R +δ z) δ y Δ Vy = Vs 2(2 R +δ y) δ x Δ Vx = Vs 2(2 R +δ x)

23 Tactile Sensor... y

24 Tactile Sensor (1) 64 analogue measures The electrodes are etched in a flexible circuit Embedded Electronics

25 Tactile Sensor (2) A microcontroller scan the matrix of electrodes and compute the data. R0 A/D Pic 18F458 R8 C0 Tactile sensor C8 A0 A2 Multiplexer Amplifier

26 Integration

27 Microcontroller Digital Potenziometers Signals from the force sensor Signals from the tactile sensor Transceiver CAN Microcontroller Module There is a microcontroller PIC 18F458 for each phalange. PIC 18F458

28 Force Sensor Module Force Sensor Amplifiers Buffer

29 Tactile Sensor Multiplexer Amplifier Flat Connector

30 Tactile Sensor Characterization (preliminary result) Pressure-Resistence Characteristic

31 Tactile Sensor Characterization (preliminary result) Pressure-Resistence Characteristic

32 Maclab Robotics Toolbox Toolbox for Simulink to simulate control models of a robotic structure: Definition of the robotic structure Denavit-Hartemberg Generatation of block (compilable for real time operative system xpctarget) needed for: Direct Kinematic Inverse Kinematic 3D Model of the robot (VRML)

33 Kinematic Control

34 Conclusion There is a lot of work to do before making tactile sensor similar to humans.

35 Sensore tattile (3)

36 Contact Sensing from Force and Torque Measurements A.Bicchi, J. Salisbury Si definisce il punto di contatto, come quel punto in cui è possibile concentrare la distribuzione di forze di contatto che agiscono sulla superficie del dito. Si suggerisce l utilizzo di un sensore di forza e coppia a 6 assi,solidale con la calotta che racchiude la falange, per calcolare il centroide di contatto, la forza e il momento risultante. f = p; m = q+ c p Con f e m le quantità misurate, c il centro di contatto, p la forza risultante e q la coppia risultante. Condizione necessaria è che la risultante della coppia q sia parallela alla normale della superficie in quel punto: k n q= S(c) 2 Facendo una semplice sostituzione si ottiene: k m= S(c)+c f 2

37

38 MAC-HAND Joint Sensor Transciver CAN Joint Sensor Force Sensor Micro controller Tactile Sensor Transciver CAN Joint Sensor Force Sensor Micro controller Tactile Sensor

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