Haptic demonstrations of kitchen tasks
A sensorised kitchen knife is fabricated with the aims of haptic explorations and demonstrations. In this thesis, we cover the design of such a tool and the prototyp- ing considerations. The calibration of a 6-axis F/T sensor with the use of a 7-DOF robot arm is demonstrated. The experimental pro...
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Nanyang Technological University
2022
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sg-ntu-dr.10356-1546742022-01-04T08:27:42Z Haptic demonstrations of kitchen tasks Jagadeesan, Kirish Deepan Domenico Campolo School of Mechanical and Aerospace Engineering Robotics Research Centre d.campolo@ntu.edu.sg Engineering::Mechanical engineering::Robots A sensorised kitchen knife is fabricated with the aims of haptic explorations and demonstrations. In this thesis, we cover the design of such a tool and the prototyp- ing considerations. The calibration of a 6-axis F/T sensor with the use of a 7-DOF robot arm is demonstrated. The experimental protocol for collecting data of forces and torques with pose data is evaluated. Simple experiments are conducted to analyse the efficacy of the tool and the embedded systems. Bachelor of Engineering (Mechanical Engineering) 2022-01-04T08:27:42Z 2022-01-04T08:27:42Z 2021 Final Year Project (FYP) Jagadeesan, K. D. (2021). Haptic demonstrations of kitchen tasks. Final Year Project (FYP), Nanyang Technological University, Singapore. https://hdl.handle.net/10356/154674 https://hdl.handle.net/10356/154674 en application/pdf Nanyang Technological University |
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Nanyang Technological University |
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| continent |
Asia |
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Singapore Singapore |
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Engineering::Mechanical engineering::Robots |
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Engineering::Mechanical engineering::Robots Jagadeesan, Kirish Deepan Haptic demonstrations of kitchen tasks |
| description |
A sensorised kitchen knife is fabricated with the aims of haptic explorations and
demonstrations. In this thesis, we cover the design of such a tool and the prototyp-
ing considerations. The calibration of a 6-axis F/T sensor with the use of a 7-DOF
robot arm is demonstrated. The experimental protocol for collecting data of forces
and torques with pose data is evaluated. Simple experiments are conducted to
analyse the efficacy of the tool and the embedded systems. |
| author2 |
Domenico Campolo |
| author_facet |
Domenico Campolo Jagadeesan, Kirish Deepan |
| format |
Final Year Project |
| author |
Jagadeesan, Kirish Deepan |
| author_sort |
Jagadeesan, Kirish Deepan |
| title |
Haptic demonstrations of kitchen tasks |
| title_short |
Haptic demonstrations of kitchen tasks |
| title_full |
Haptic demonstrations of kitchen tasks |
| title_fullStr |
Haptic demonstrations of kitchen tasks |
| title_full_unstemmed |
Haptic demonstrations of kitchen tasks |
| title_sort |
haptic demonstrations of kitchen tasks |
| publisher |
Nanyang Technological University |
| publishDate |
2022 |
| url |
https://hdl.handle.net/10356/154674 |
| _version_ |
1722355391655837696 |