This papers analyzes the reliability of radius of curvature estimates from tactile sensor data. A linear elastic model is used to fit the indenter parameters, load, location, and curvature, to the sensor output. It was found that both contact models and calibration techniques could dramatically effect the bias and variance of the estimated indenter parameters. The Fourier series is found to be an appropriate basis in which to analyze both the calibration of tactile sensors and the problem of band limited shape interpretation.

Describes a solution to controlling and communicating with an automated workcell based on a customized, commercially available real-time operating system. Two workcells, one for assembly and the other for machining, have been successfully controlled and integrated using much of the same software, despite different applications, actuators, sensors and computer hardware. Portability to different computer hardware arises from support by the operating system vendor, while application portability arises from the development of standardized input and output with the mechatronic devices (SIOMS) described in this paper. The real-time UNIX device drivers used to create the standard encapsulate the complexities of I/O and present users with a simple interface which allows concurrent access to the devices from multiple processes. Recent advances in personal computer technology make this a cost-effective solution.>

A linear elastic plane strain model for a cylindrical finger with a solid core and elastic surface is developed. This model is used to determine the subsurface strain impulse responses as well as pressure distributions in the contact region for indentation of the cylinder by rigid objects with friction. Singular value decomposition is used to find a reduced basis in which to analyze the shape-from-strain inversion problem. This decomposition shows that sensor depth must be small to achieve good shape sensing. However, if only contact location and applied force magnitude and direction are required, deep sensors can quickly and easily provide this information.

A dynamic simulation of threaded insertion is developed based on Euler's equations, impulsive forces, and a geometric description for threaded parts. Points of contact between the threaded parts are determined and tracked during the simulation. Reaction forces are computed based by the kinematic description. The simulation is used to investigate the behavior of a bolt during insertion into a nut under grasp stiffness and damper control.>