Contribution: Alexander Todtheide , et al.

Proprio- and Exteroceptive Reflexes for a Pneumatically Actuated Finger based on the artificial Robot Nervous System

Alexander Todtheide , Johannes Kuhn , and Sami Haddadin

This workshop paper shows a concept for fusing proprioceptive and exteroceptive measurements to be used for reflex generation based on the artificial Robot Nervous System (aRNS). The concept is applied to an antagonistic, impedance controlled and pneumatically actuated robot finger joint which is equipped with a momentum observer and a Biotac sensor to gain proprioceptive and exteroceptive information. Several reflexes with underlying online trajectory generation and stiffness adaptation for proprioceptive and exteroceptive measurements as well as the recognition of sharp and blunt contacts with appropriate reflexes
are shown.