CONTACT SENSING FROM FORCE MEASUREMENTS

This article addresses contact sensing (i.e., the problem of resolving the location of a contact, the force at the interface, and the moment about the contact normals). Called ''intrinsic'' contact sensing for the use of internal force and torque measurements, this method allows for practical devices that provide simple, relevant contact informatio n in practical robotic applications. Such sensors have been used in co njunction with robot hands to identify objects, determine surface fric tion, detect slip, augment grasp stability, measure object mass, probe surfaces, and control collision and for a variety of other useful tas ks. This article describes the theoretical basis for their operation a nd provides a framework for future device design.