Contact Sensing from Force Measurements

This paper 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 is presented. Called \intrinsic" contact sensing for the use of internal force and torque measurements, this method allows for practical devices which provide simple, relevant contact information in practical robotic applications. Such sensors have been Antonio Bicchi is now with the 1 used in conjunction with robot hands to identify objects, determine surface friction, detect slip, augment grasp stability, measure object mass, probe surfaces, control collision and a variety of other useful tasks. This paper describes the theoretical basis for their operation and provides a framework for future device design.