Date of Award

Spring 1-1-2016

Document Type

Thesis

Degree Name

Master of Science (MS)

Department

Electrical, Computer & Energy Engineering

First Advisor

Nikolaus Correll

Second Advisor

Christoffer Heckman

Third Advisor

Li Shang

Abstract

Haptic sensing remains an open research area. Tactile feedback is acknowledged to be fundamental for human grasping, and yet robotics hardly uses it in practice.

In this work, we explore the manipulation benefits of a low-cost tactile sensor that combines proximity and force measurements. We implement a pick-and-place pipeline, and show that success rates increase in different tasks when adding haptic feedback. We study a modified version of the tactile sensor, which drops proximity sensing for a more accurate and wider range force measurement.

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