Carnegie Mellon University
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Design of a Modular Tactile Sensor and Actuator Based on an Electrorheological Gel

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journal contribution
posted on 1996-01-01, 00:00 authored by Richard M. Voyles, Gary K. Fedder, Pradeep K. Khosla
We present the design of a modular tactile sensor and actuator system for observing human demonstrations of contact tasks. The system consists of three interchangeable parts: an intrinsic tactile sensor for measuring net force/ torque, an extrinsic tactile sensor for measuring contact distributions, and a tactile actuator for displaying tactile distributions. The novel components are the extrinsic sensor and tactile actuator which are “inside-out symmetric” to each other and employ an electrorheological gel for actuation.


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