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<TITLE>Human and Robot Hands</TITLE>

<H1>Human and Robot Hands</H1>

<!WA0><img alt="-----" src="http://www.ai.mit.edu/icons/lines/line-bluemarble.gif">
<p>

The group is 
headed by <!WA1><a href="http://www.ai.mit.edu/people/jks/jks.html">Dr. Kenneth
Salisbury</a>. (This page is currently <b>under construction</b> and
very incomplete.) Other groups also headed by Ken are the <!WA2><a
href="http://www.ai.mit.edu/projects/handarm-haptics/haptics.html">Haptic
Interfaces Group</a> and the <!WA3><a
href="http://www.ai.mit.edu/projects/handarm-haptics/manipulation.html">Vision
and Touch Guided Manipulation Group</a>.
<p>

The people in the Robot Hands Group are:<p>

<ul>
  <li> Brian Anthony
  <li> <!WA4><a href="http://www.ai.mit.edu/people/bse/bse.html">Brian Eberman</a> (graduated)
  <li> Susanna Leveroni
  <li> <!WA5><a href="http://www.ai.mit.edu/people/morrell/morrell.html">John Morrell</a>
  <li> Vinay Shah
</ul>

<hr>

<dl>
  <dt> <h2>Grasp Gaits</h2> 
  <dd> Coming soon...

  <dt> <h2>A NewHand</h2>
  <dd> Coming soon...

  <dt> <h2>Phantom as a Finger</h2>
  <dd> <p> <!WA6><IMG ALIGN=BOT
SRC="http://www.ai.mit.edu/projects/handarm-haptics/phinger2.gif">

<p>Above is a photo of the <!WA7><a href="http://www.ai.mit.edu/projects/handarm-haptics/haptics.html">Phantom</a> as a
finger, with a six axis force/torque sensor. The device is being used
to touch and explore objects with force sensing.


  <dt> <h2>The Touch Observer</h2>
  <dd> <p>The prototype <!WA8><A
HREF="http://www.ai.mit.edu/projects/handarm-haptics/output.gif">touch
observer</A> software monitors the vibration level measured by the force sensor
on the above finger and segments similiar components. By matching
these pieces to prior experience the touch observer can be used to
write event driven robot programs. 
      
</dl>


<h2>Recent Papers in Human and Robot Hands</h2>

 <!WA9><IMG SRC="http://www.ai.mit.edu/gifs/ball.red.gif" ALT="*"> <!WA10><A
HREF="ftp://ftp.ai.mit.edu/pub/users/bse/iser3-1993.ps.Z">Segmentation
and Interpretation of Temporal Contact Signals:</A> Eberman,
Salisbury, International Symposium on Experimental Robotics, October
1993, Kyoto Japan.<p>

<!WA11><IMG SRC="http://www.ai.mit.edu/gifs/ball.red.gif" ALT="*"> <!WA12><A
HREF="ftp://ftp.ai.mit.edu/pub/users/bse/ijrr-13-5-1994.ps.Z">Application
of Change Detection to Dynamic Contact Sensing:</A> Eberman, Salisbury
Int. J. of Robotics Research, 13(5), 1994.
<p>
<hr>

<i><address>[e-mail]</address></i>