Kit containing one or two grippers for Rethink Robotics Baxter/Sawyer and Sensor Interface Board w/ USB to retrofit a parallel gripper with tactile and proximity sensing. Data is available via a virtual COM port as well as a ROS node.
There are seven sensors on each gripper arm pointing inside, and one pointing forward at the tip. Sensor data can be used to detect obstacles, align with objects, determine point of contact, and eventually force. Depending on calibration, sensor data can be used for rudimentary 3D reconstruction and object recognition.
- Integrated force and distance sensing using elastomer-embedded commodity proximity sensors, Robotics: Science and Systems XII, Ann Arbor, MI, 2016.