Fingertips
PST Sensor
These are simple sensors, fitted as standard, which measure the air pressure within a bubble at the finger tip. When the finger tip presses on an object, the pressure in the bubble increases. The sensor incorporates an automatic drift and temperature compensation algorithm (essentially a high pass filter with an extremely low cut off frequency).
Topics
PST sensor data will be published on the following topics:
/rh/tactile
Example topic message when using PST sensors:
header: - seq: 6306 stamp: . secs: 1660831064 nsecs: 585176249 frame_id: "rh_distal" pressure: [ 22560, 256, 22560, 22560, 22560 ] temperature: [ 32635, 637, 32635, 32635, 32635 ] -
BioTacs
The BioTacSP® is a biologically inspired tactile sensor from SynTouch LLC. It consists of a rigid core surrounded by an elastic skin filled with a fluid to give a compliance similar to the human fingertip. The BioTac is capable of detecting the full range of sensory information that human fingers can detect: forces, microvibrations, and thermal gradients. The skin is an easily replaced, low-cost, moulded elastomeric sleeve.
Sensor |
Update rate |
---|---|
Pressure AC signal |
2000Hz |
Pressure DC signal |
90Hz |
Temperature AC & DC |
90Hz |
19 Normal force sensors |
90Hz each |
Topics
This topic is published by the driver at 100 Hz with data from tactile sensors:
/rh/tactile
Example topic message when using BioTac fingertip sensors:
tactiles: - pac0: 2048 pac1: 2054 pdc: 2533 tac: 2029 tdc: 2556 electrodes: [2622, 3155, 2525, 3062, 2992, 2511, 3083, 137, 2623, 2552, 2928, 3249, 2705, 3037, 3020, 2405, 3049, 948, 2458, 2592, 3276, 3237, 3244, 3119] - pac0: 0 pac1: 0 pdc: -9784 tac: 32518 tdc: 0 electrodes: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0] - pac0: 0 pac1: 0 pdc: -9784 tac: 32518 tdc: 0 electrodes: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0] - pac0: 0 pac1: 0 pdc: -9784 tac: 32518 tdc: 0 electrodes: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0] - pac0: 0 pac1: 0 pdc: -9784 tac: 32518 tdc: 0 electrodes: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
The following topics are specific for each sensor and update at 100 Hz with data from the biotac sensors, which comprises their pressure, temperature and electrode resistance. This topic is published from the /biotac_republisher node which receives this data from the driver via the /rh/tactile topic.
/rh/biotac_
Example /rh/biotac_** topic message:
pac0: 2056 pac1: 2043 pdc: 2543 tac: 2020 tdc: 2454 electrodes: [2512, 3062, 2404, 2960, 2902, 2382, 2984, 138, 2532, 2422, 2809, 3167, 2579, 2950, 2928, 2269, 2966, 981, 2374, 2532, 3199, 3152, 3155, 3033]
Optoforce
If the hand has optoforce sensors installed, it is recommended to use the one liner to install the docker container using the “-o true” option. Doing this, everything will be set up automatically.
For more information on setup and getting started with the optoforce sensors, look here.
Topics
Optoforce sensor data will be published on the following topics:
/rh/optoforce_**