Bi-modal hemispherical sensors for three axis force and contact angle measurement

Humans and animals demonstrate a unique ability to interact with the physical environment around them with coordination and control, including moving quickly across rugged terrain or deftly handling small objects. Much of this success is related to our ability to accurately perceive the world around us through a sense of touch. In order to better perform dynamic, physical interactions, such as locomotion or manipulation, robots need to be able to accurately measure contact locations and forces. However, many existing sensors do not satisfy the stringent requirements or do not supply sufficient information for robotic locomotion and manipulation. This thesis builds on work by a previous PhD student, Meng Yee (Michael) Chuah, of the MIT Biomimetic Robotics Laboratory to develop stress field based force sensors for use in robotic applications. The concept of stress field based force sensing consists of pressure sensors embedded within a rubber hemisphere.

Name thesis:degree_name

Master

Department dc:contributor.department

Massachusetts Institute of Technology. Department of Mechanical Engineering

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2020

Author dc:creator

• Epstein, Lindsay(Lindsay M.)

Advisor dc:contributor.advisor

• Sangbae Kim.

• Mechanical Engineering.

Statement dc:rights

• MIT theses may be protected by copyright. Please reuse MIT thesis content according to the MIT Libraries Permissions Policy, which is available through the URL provided.

Licence dc:rights.uri

• http://dspace.mit.edu/handle/1721.1/7582

Language dc:language.iso

eng

Handle dc:identifier.uri

https://hdl.handle.net/1721.1/127161

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/127161