DSpace - Tor Vergata: Item 2108/631

Please use this identifier to cite or link to this item: http://hdl.handle.net/2108/631

Title:	Bio-inspired design of sensors and mechanisms in humanoid robotics
Authors:	Carrozza, Maria Chiara Dario, Paolo Stellin, Giovanni
Keywords:	robotics hand sensors design humanoids sensor fusion
Issue Date:	9-Sep-2008
Abstract:	Many properties of the human hand contribute to its versatility for manipulation task, such as its complex sensory apparatus, its intricate anatomy and muscular system. Yet, neither the exquisite tactile human sensibility, nor the intricate anatomy or the muscles actuating the hand and the wrist can explain the manipulation skills of normal humans. Fine manipulation tasks are possible thanks to automatic control processes that manage the flow of sensory information and correlate it to the right motor commands. Currently, a state-of–the-art artificial hand can be compared to an almost totally anesthetized human hand. Such poor sensorization makes even the simplest manipulation task difficult to control. This PhD Thesis presents a novel bio-inspired approach to the design of artificial hands with a smart sensory system already embedded. The development of an advanced humanoid hand with a high number of DoFs is useless without the design of an adequate and reliable set of proprioceptive...
Description:	20. ciclo
URI:	http://hdl.handle.net/2108/631
Appears in Collections:	Tesi di dottorato in ingegneria

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