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A miniature load sensor has been developed as a prototype of tactile sensors that could fit within fingertips of anthropomorphic robot hands. The sensor includes a force-and-torque transducer in the form of a spring instrumented with at least six semiconductor strain gauges. The strain-gauge wires are secured to one side of an interface circuit board mounted at the base of the spring. This board protects the strain-gauge wires from damage that could otherwise occur as a result of finger motions. On the opposite side of the interface board, cables routed along the neutral axis of the finger route the strain-gauge output voltages to an analog-to-digital converter (A/D) board. The A/D board is mounted as close as possible to the strain gauges to minimize electromagnetic noise and other interference effects. The outputs of the A/D board are fed to a controller, wherein, by means of a predetermined calibration matrix, the digitized strain-gauge output voltages are converted to three vector components of force and three of torque exerted by or on the fingertip.

The Exploration Systems Architecture defines missions that require rendezvous, proximity operations, and docking (RPOD) of two spacecraft both in Low Earth Orbit (LEO) and in Low Lunar Orbit (LLO). Uncrewed spacecraft must perform automated and/or autonomous rendezvous, proximity operations and docking operations (commonly known as Automated Rendezvous and Docking, AR&D). The crewed versions may also perform AR&D, possibly with a different level of automation and/or autonomy, and must also provide the crew with relative navigation information for manual piloting. The capabilities of the RPOD sensors are critical to the success of the Constellation Program; this is carried as one of the CEV Project top risks. The Exploration Technology Development Program (ETDP) AR&D Sensor Technology Project seeks to reduce this risk by increasing technology maturation of selected relative navigation sensor technologies through testing and simulation. One of the project activities is a series of "pathfinder" testing and simulation activities to integrate relative navigation sensors with the Johnson Space Center Six-Degree-of-Freedom Test System (SDTS). The SDTS will be the primary testing location for the Orion spacecraft s Low Impact Docking System (LIDS). Project team members have integrated the Orion simulation with the SDTS computer system so that real-time closed loop testing can be performed with relative navigation sensors and the docking system in the loop during docking and undocking scenarios. Two relative navigation sensors are being used as part of a "pathfinder" activity in order to pave the way for future testing with the actual Orion sensors. This paper describes the test configuration and test results.

Tactile sensing is an important part of the development of new prosthetic hands. A number of approaches to establishing an afferent pathway back to the patient for tactile information are becoming available including tactors and direct stimulation of the afferent nerves. Tactile information can also be used by low-level control systems that perform simple tasks for the patient such as establishing a stable grasp and maintaining the grasping forces needed to hold an object. This abstract reports on the design of a small fingertip load cell based on semi-conductor strain gauges. Since this load cell is so small (measuring only 8.5mm in diameter and 6.25 mm in height), it easily fits into the tip of an anthropomorphic mechatronic hand. This load cell is tested by comparing a time series of force and moment data with reference data acquired from a much larger high-precision commercial load cell.

Compact transducer arrays that measure spatial distributions of force or pressure have been demonstrated as prototypes of tactile sensors to be mounted on fingers and palms of dexterous robot hands. The pressure- or force-distribution feedback provided by these sensors is essential for the further development and implementation of robot-control capabilities for humanlike grasping and manipulation.

A proposed design for an electromagnetic brake would increase the reliability while reducing the number of parts and the weight, relative to a prior commercially available electromagnetic brake. The reductions of weight and the number of parts could also lead to a reduction of cost. A description of the commercial brake is prerequisite to a description of the proposed electromagnetic brake. The commercial brake (see upper part of figure) includes (1) a permanent magnet and an electromagnet coil on a stator and (2) a rotor that includes a steel contact plate mounted, with tension spring loading, on an aluminum hub. The stator is mounted securely on a stationary object, which would ordinarily be the housing of a gear drive or a motor. The rotor is mounted on the shaft of the gear drive or motor. The commercial brake nominally operates in a fail-safe (in the sense of normally braking) mode: In the absence of current in the electromagnet coil, the permanent magnet pulls the contact plate, against the spring tension, into contact with the stator. To release the brake, one excites the electromagnet with a current of the magnitude and polarity chosen to cancel the magnetic flux of the permanent magnet, thereby enabling the spring tension to pull the contact plate out of contact with the stator. The fail-safe operation of the commercial brake depends on careful mounting of the rotor in relation to the stator. The rotor/stator gap must be set with a tolerance between 10 and 15 mils (between about 0.25 and about 0.38 mm). If the gap or the contact pad is thicker than the maximum allowable value, then the permanent magnetic field will not be strong enough to pull the steel plate across the gap. (For this reason, any contact pad between the contact plate and the stator must also be correspondingly thin.) If the gap exceeds the maximum allowable value because of shaft end play, it becomes impossible to set the brake by turning off the electromagnet current. Although it may still be possible to set the brake by applying an electromagnet current to aid the permanent magnetic field instead of canceling it, this action can mask an out-of-tolerance condition in the brake and it does not restore the fail-safe function of setting the brake when current is lost.

Tactile sensors are providing the foundation for developing autonomous grasping skills for the NASA/DARPA Robonaut, a dexterous humanoid robot. The sensors originally developed for the Utah/MIT hand are now incorporated into a rugged glove for Robonaut. These custom gloves compliment the human like dexterity available in the Robonaut hands. The sensors and gloves are discussed showing a progression in using advanced materials and construction techniques to enhance sensitivity and overall sensor coverage. The force data provided by the gloves can be used to improve dexterous, tool and power grasping primitives. Experiments with the latest gloves focus on the use of tools, specifically a power drill used to approximate an astronaut's torque tool.

Robotic systems will be used as precursors to human exploration to explore the solar system and expand our knowledge of planetary surfaces. Robotic systems will also be used to build habitats and infrastructure required for human presence in space and on other planetary surfaces . Such robots will require a high level of intelligence and automation. The ability to flexibly manipulate their physical environment is one characteristic that makes humans so effective at these building and exploring tasks . The development of a generic autonomous grasp ing capability will greatly enhance the efficiency and ability of robotics to build, maintain and explore. To tele-operate a robot over vast distances of space, with long communication delays, has proven to be troublesome. Having an autonomous grasping capability that can react in real-time to disturbances or adapt to generic objects, without operator intervention, will reduce the probability of mishandled tools and samples and reduce the number of re-grasp attempts due to dropping. One aspect that separates humans from machines is a rich sensor set. We have the ability to feel objects and respond to forces and textures. The development of touch or tactile sensors for use on a robot that emulates human skin and nerves is the basis for this discussion. We will discuss the use of new piezo-electric and resistive materials that have emerged on the market with the intention of developing a touch sensitive sensor. With viable tacti le sensors we will be one step closer to developing an autonomous grasping capability.