Grasp Algorithms For Optotactile Robotic Sample Acquisition, Phase II

The human-machine interface can be used to develop novel computer input devices for art or entertainment purposes. This unique interface has additional applications in medical training dummies or orthopedic foot measurement devices. The algorithms developed can improve robustness in industrial settings. They can also be used in unstructured environments with fragile materials, such as remote explosive disposal, or nuclear materials handling. Finally, they would be useful for manipulators in complex environments, like assistive robotics in the home. The force sensitive contact control technology has many potential applications within NASA. This technology includes innovative pattern sensing capabilities that provide a novel, highly accurate and sensitive human-machine interface. It also has the potential for greater accuracy in force measurement and control in a different regime than current sensor (strain gauge) technologies and can be a new tool in the machine designer's toolkit. This technology will provide NASA with advanced, robust grasping solutions for unstructured environments. This will include both the computer vision algorithms that extract grasp quality metrics from an optotactile fingerpad, as well as the grasp algorithms that take advantage of that information. We will also investigate commercializing a monolithic hardware solution for an optotactile grasper, with a single board solution for image capture, lighting, and data processing. More »