Changes between Version 6 and Version 7 of Hand/280/SystemComponentList


Ignore:
Timestamp:
May 7, 2012, 7:52:53 PM (7 years ago)
Author:
bz
Comment:

--

Legend:

Unmodified
Added
Removed
Modified
  • Hand/280/SystemComponentList

    v6 v7  
    105105'''Figure 5: Arm Adapter'''
    106106}}}
    107 === Finger-Tip Torque Sensors ===
    108 Barrett Technology offers a factory-installed torque sensor for the BH8-280 System. This sensor measures the torque externally applied about the distal joint over a range of +/- 1 N-m (+/-2 kg at finger tip is about 20 N @ 5 cm = +/- 1 N-m). This option uses foil strain gages to measures the differential tension in the “tendon” running through each finger to the second joint. The information is processed in additional on-board circuitry when this option is installed; it is accessed by requesting the strain gage property. The strain gage property represents the amount strain on the strain gage sensors.  The strain gage values can be calibrated by the customer to relate strain to joint torque.
     107
     108=== Fingertip Torque Sensing Option ===
     109Barrett Technology offers a set of three factory-installed torque sensors (one per finger) for the BarrettHand™ system. Each sensor measures the torque externally applied about the distal joint over a range of +/- 1 N-m. This option uses strain-gages to measure the differential tension in the "tendon" running through each finger to the second joint. The information is processed in additional on-board circuitry when this option is installed, it is accessed by requesting the present strain-gage parameter. The strain-gage parameter represents the amount of strain on the strain-gage sensors (values can be calibrated by the customer to relate strain to joint torque).
     110
     111=== Tactile Sensing Option ===
     112The BarrettHand with Tactile-Sensing provides 96 cells of tactile-array data spread across all three fingers *and* the palm. The density of cells becomes higher towards the very tips of the fingers where finer spatial resolution is desirable. The entire
     113Tactile-Sensing option is seamlessly integrated with the BarrettHand mechanically, electronically, and in the firmware and software. Furthermore, the calibration data is stored with each fingertip and the palm so that if you swap fingers, for example, the
     114system is intelligent enough to maintain the correct calibrations.