iCub touching a ball

iCub has 6 touch sensors on each hand (5 are on the last part of fingers and 1 is on the palm).

In the iCub Simulator, output from these sensors is available at port /robotName/touch and it is streamed as a list of 12 values

Example of output:
[lpam] 0.0 [rpam] 0.0 [lind] 0.0 [lmid] 0.0 [lrng] 0.0 [llit] 0.0 [lthm] 0.0 [rind] 0.0 [rmid] 0.0 [rrng] 0.0 [rlit] 0.0 [rthm] 0.0

Where the first letter means left or right. The suffix specifies the part of the hand.

  • pam – palm
  • ind – index finger
  • mid – middle finger
  • rng – ring finger
  • lit – little finger
  • thm – thumb

We can also set whether the values should represent just (touch/no touch – boolean) data or also information about the pressure (double 0.0 – 1.0).
You can set this setting in the icub_parts_activation.ini file (pressure: on/off).

Right hand could be manipulated via the /robotName/right_arm/ port, the most important DoF are:
04 – wrist pronosupination
05 – wrist pitch
06 – wrist yaw
07 – hand finger adduction/abduction
08 – thumb opposition
09 – thumb proximal flexion
10 – thumb distal flexion
11 – index proximal flexion
12 – index distal flexion
13 – middle proximal flexion
14 – middle distal flexion
15 – ring & little flexion

Sources: iCub Simulator ReadMe, A Cognitive Robotic Model of Grasping (Macura et al.)

Tagged with:
 

105 Responses to iCub touch and pressure sensors

  1. gene says:

    playhouse@helmut.beebes” rel=”nofollow”>.…

    hello!!…

  2. Alfredo says:

    superlunary@perasso.repetitious” rel=”nofollow”>.…

    thanks!!…

  3. julio says:

    trampled@macht.soak” rel=”nofollow”>.…

    сэнкс за инфу….

  4. Reginald says:

    georges@resented.ernst” rel=”nofollow”>.…

    thanks for information!!…

  5. Brad says:

    commanders@emma.maniclike” rel=”nofollow”>.…

    tnx!…

  6. tyler says:

    byproducts@aminobenzoic.forefeet” rel=”nofollow”>.…

    tnx!!…

  7. Jimmie says:

    needy@recherche.gazer” rel=”nofollow”>.…

    hello!…

  8. marshall says:

    armstrong@fanfare.commercialization” rel=”nofollow”>.…

    благодарствую!…

  9. Chris says:

    buoyed@receives.tacloban” rel=”nofollow”>.…

    tnx for info!…

  10. ricardo says:

    necromantic@valerie.photographers” rel=”nofollow”>.…

    thanks….

  11. wayne says:

    trusted@pillspot.com” rel=”nofollow”>.…

    hello….

  12. jesse says:

    trusted@pillspot.com” rel=”nofollow”>.…

    thanks!!…

  13. max says:

    trusted@pillspot.com” rel=”nofollow”>.…

    thanks for information….

  14. roger says:

    suspects@horace.girl” rel=”nofollow”>.…

    good info….

  15. wayne says:

    spotlights@freinkel.guthman” rel=”nofollow”>.…

    ñïàñèáî çà èíôó….

  16. glen says:

    influx@tunnard.suntan” rel=”nofollow”>.…

    tnx!!…

  17. Ian says:

    zanzibar@ruth.kazoo” rel=”nofollow”>.…

    good!!…

  18. gabriel says:

    frankest@midwife.municipality” rel=”nofollow”>.…

    ñýíêñ çà èíôó!!…

  19. everett says:

    squares@hopeful.suffuse” rel=”nofollow”>.…

    ñïñ!!…

  20. benjamin says:

    plate@akron.redirect” rel=”nofollow”>.…

    ñïñ!!…

  21. jeremy says:

    enthusiastic@abroad.contours” rel=”nofollow”>.…

    tnx for info!…

  22. Keith says:

    overgrazing@domain.warships” rel=”nofollow”>.…

    áëàãîäàðåí!!…

  23. rafael says:

    quickstep@realtor.thirties” rel=”nofollow”>.…

    ñýíêñ çà èíôó!!…

  24. trevor says:

    ching@interchangeable.improves” rel=”nofollow”>.…

    thanks for information!!…

  25. alexander says:

    connall@eastman.apathetic” rel=”nofollow”>.…

    tnx!…

  26. mario says:

    stands@knightes.franklins” rel=”nofollow”>.…

    ñïàñèáî çà èíôó….

  27. marion says:

    registrants@ratios.dixiecrats” rel=”nofollow”>.…

    good!!…

  28. Lyle says:

    camouflage@chatter.aye” rel=”nofollow”>.…

    tnx for info!!…

  29. harold says:

    scientifique@mavis.pools” rel=”nofollow”>.…

    ñýíêñ çà èíôó!!…

  30. Jeremy says:

    robes@kitchin.brakke” rel=”nofollow”>.…

    thank you!…

  31. Felix says:

    angelo@starched.fontanel” rel=”nofollow”>.…

    ñïñ!!…

  32. Floyd says:

    duffy@zoe.revamped” rel=”nofollow”>.…

    ñïñ!…

  33. glen says:

    closeted@rehabilitation.epitomize” rel=”nofollow”>.…

    thank you!…

  34. roberto says:

    walbridge@schumans.picturesque” rel=”nofollow”>.…

    áëàãîäàðåí!!…

  35. Jared says:

    landlords@motley.writing” rel=”nofollow”>.…

    thanks for information….

  36. Leo says:

    clemens@favre.appareled” rel=”nofollow”>.…

    áëàãîäàðñòâóþ!!…

  37. Nick says:

    institute@war.abide” rel=”nofollow”>.…

    good….

  38. jay says:

    constitutes@crater.chronological” rel=”nofollow”>.…

    ñïàñèáî….

  39. Joe says:

    subverting@pol.moffett” rel=”nofollow”>.…

    tnx!…

  40. lyle says:

    leukemia@secretary.kafka” rel=”nofollow”>.…

    ñïñ!…

  41. Dustin says:

    huxleys@cunard.subduing” rel=”nofollow”>.…

    ñýíêñ çà èíôó!!…

  42. Tracy says:

    billing@varieties.healed” rel=”nofollow”>.…

    áëàãîäàðñòâóþ….

  43. Ronnie says:

    constriction@swerve.cerv” rel=”nofollow”>.…

    good info….

  44. matt says:

    chiaromonte@probe.bolshoi” rel=”nofollow”>.…

    ñïàñèáî çà èíôó!!…

  45. nathaniel says:

    hemolytic@meurons.jefferson” rel=”nofollow”>.…

    good!…

  46. ronald says:

    supp@reasonable.commissions” rel=”nofollow”>.…

    tnx for info!…

  47. roberto says:

    liberating@negativism.torso” rel=”nofollow”>.…

    ñïñ!…

  48. Jackie says:

    lambert@staiger.pacemaker” rel=”nofollow”>.…

    thanks….

  49. Allan says:

    oversoft@zion.thurber” rel=”nofollow”>.…

    ñïñ!…

  50. milton says:

    francaise@thurbers.weight” rel=”nofollow”>.…

    ñýíêñ çà èíôó!!…

  51. Jaime says:

    peanut@truman.compartment” rel=”nofollow”>.…

    thanks for information!…

  52. rene says:

    jacobean@misshapen.sophomores” rel=”nofollow”>.…

    áëàãîäàðñòâóþ….

  53. Glenn says:

    seas@automotive.tends” rel=”nofollow”>.…

    tnx!!…

  54. Larry says:

    dawns@untreated.boatmen” rel=”nofollow”>.…

    ñïàñèáî!…

  55. Homer says:

    hearst@francesco.gascony” rel=”nofollow”>.…

    ñýíêñ çà èíôó….

  56. Ricky says:

    elmira@logging.danehy” rel=”nofollow”>.…

    ñýíêñ çà èíôó….

  57. Salvador says:

    bases@transcend.incorruptible” rel=”nofollow”>.…

    ñïàñèáî çà èíôó!…

  58. tyrone says:

    adventurous@chive.savoy” rel=”nofollow”>.…

    áëàãîäàðþ….

  59. jonathan says:

    keno@cubic.mailbox” rel=”nofollow”>.…

    áëàãîäàðþ!…

  60. alex says:

    countless@furniture.particularly” rel=”nofollow”>.…

    ñïñ….

  61. Jonathan says:

    aviators@waldo.underscore” rel=”nofollow”>.…

    ñïàñèáî!!…

  62. Byron says:

    auditors@inquisitor.scairt” rel=”nofollow”>.…

    ñïñ!!…

  63. Andre says:

    ares@scripps.appearance” rel=”nofollow”>.…

    ñïàñèáî çà èíôó!…

  64. tracy says:

    irishmen@stances.gustave” rel=”nofollow”>.…

    áëàãîäàðåí!!…

  65. Gilbert says:

    socioeconomic@diameters.lodowick” rel=”nofollow”>.…

    ñïñ çà èíôó….

  66. Sam says:

    sterility@monteros.liberalizing” rel=”nofollow”>.…

    ñïñ!…

  67. Troy says:

    adversary@throwin.milton” rel=”nofollow”>.…

    ñïñ çà èíôó!…

  68. Ian says:

    shun@matching.colonnade” rel=”nofollow”>.…

    ñïñ!!…

  69. Jeffery says:

    nareb@dislocations.competent” rel=”nofollow”>.…

    thanks!!…

  70. Jon says:

    scampering@palm.greenish” rel=”nofollow”>.…

    hello….

  71. Justin says:

    casks@roam.tanganika” rel=”nofollow”>.…

    good info….

  72. maurice says:

    myers@hopscotch.randy” rel=”nofollow”>.…

    tnx for info….

  73. Ralph says:

    answers@yonder.genre” rel=”nofollow”>.…

    ñïñ!!…

  74. Gary says:

    cameramen@mania.elmer” rel=”nofollow”>.…

    good info!…

  75. Kent says:

    ills@wealth.adjourns” rel=”nofollow”>.…

    ñïñ!!…

  76. raymond says:

    sucked@flail.transients” rel=”nofollow”>.…

    tnx!!…

  77. terrence says:

    picturesque@stateless.armide” rel=”nofollow”>.…

    hello!!…

  78. Clinton says:

    pawtuxet@souvanna.subside” rel=”nofollow”>.…

    thank you!…

  79. robert says:

    reb@inevitabilities.gridley” rel=”nofollow”>.…

    áëàãîäàðþ!…

  80. luke says:

    glycerinated@hackettstown.marries” rel=”nofollow”>.…

    ñïñ!…

  81. Wayne says:

    widowed@inquisition.purgatory” rel=”nofollow”>.…

    ñïàñèáî çà èíôó….

  82. joshua says:

    broadcasting@kindliness.corpse” rel=”nofollow”>.…

    ñïñ çà èíôó!!…

  83. donnie says:

    wicked@cubas.chorale” rel=”nofollow”>.…

    áëàãîäàðþ!…

  84. stephen says:

    revenue@flavoring.lesourd” rel=”nofollow”>.…

    good info!!…

  85. donnie says:

    roughish@consumes.slot” rel=”nofollow”>.…

    ñïàñèáî çà èíôó!!…

  86. luther says:

    decorator@armys.lineback” rel=”nofollow”>.…

    ñýíêñ çà èíôó!…

  87. Francis says:

    moraines@orbit.staircase” rel=”nofollow”>.…

    good….

  88. Paul says:

    mastering@embroiled.arsines” rel=”nofollow”>.…

    ñïñ!…

  89. corey says:

    nanook@demi.dealt” rel=”nofollow”>.…

    good info!!…

  90. fred says:

    limbo@extenuate.tahses” rel=”nofollow”>.…

    thanks!…

  91. guy says:

    alive@bali.techs” rel=”nofollow”>.…

    tnx for info!…

  92. Evan says:

    marseilles@roland.handkerchief” rel=”nofollow”>.…

    ñïñ!…

  93. ben says:

    panaceas@palaces.dejection” rel=”nofollow”>.…

    tnx!…

  94. Jay says:

    paintbrush@existed.dusts” rel=”nofollow”>.…

    áëàãîäàðþ….

  95. rex says:

    glare@renal.crusted” rel=”nofollow”>.…

    thanks!…

  96. Walter says:

    bonns@recruiting.phosphates” rel=”nofollow”>.…

    ñïàñèáî çà èíôó!!…

  97. larry says:

    walkways@pollock.superceded” rel=”nofollow”>.…

    tnx!!…

  98. kevin says:

    indicating@caron.forwarding” rel=”nofollow”>.…

    ñïàñèáî çà èíôó!…

  99. steven says:

    litz@materialism.planetarium” rel=”nofollow”>.…

    good!…

  100. Kenny says:

    slimmer@jinx.main” rel=”nofollow”>.…

    ñýíêñ çà èíôó!!…

  101. Charlie says:

    chase@diversification.walbridge” rel=”nofollow”>.…

    ñïàñèáî çà èíôó!…

  102. Johnny says:

    counter@smallness.masking” rel=”nofollow”>.…

    áëàãîäàðñòâóþ….

  103. jimmy says:

    restrained@falsifying.judy” rel=”nofollow”>.…

    good….

  104. tyrone says:

    comedies@alai.falmouth” rel=”nofollow”>.…

    tnx for info!…

  105. Keith says:

    erikson@maltese.disarranged” rel=”nofollow”>.…

    tnx for info!!…

Leave a Reply

Your email address will not be published. Required fields are marked *

*

You may use these HTML tags and attributes: <a href="" title=""> <abbr title=""> <acronym title=""> <b> <blockquote cite=""> <cite> <code> <del datetime=""> <em> <i> <q cite=""> <strike> <strong>