Rapid-Prototyping of Rapid-Prototyping Machines:
How to Make Something that Makes (almost) Anything

Measurement

readings
Boie, Robert A., and Gabriel L. Miller. "Conformable tactile sensor." U.S. Patent No. 4,526,043. 2 Jul. 1985.
Boie, Robert A., Laurence W. Ruedisueli, and Eric R. Wagner. "Computer mouse or keyboard input device utilizing capacitive sensors." U.S. Patent No. 5,463,388. 31 Oct. 1995.
Boie, Robert Albert, et al. "Integrated liquid crystal display and digitizer having a black matrix layer adapted for sensing screen touch location." U.S. Patent No. 5,847,690. 8 Dec. 1998.
Mathews, Max V., and Thomas E. Oberheim. "Baton and X, Y, Z, position sensor." U.S. Patent No. 6,222,522. 24 Apr. 2001.
Advances in Computer Vision
Hybrid Position/Force Control of Manipulators, M. H. Raibert and J. J. Craig in Journal of Dynamic Systems, Measurement, and Control 103(2), 126-133 1981
Stiffness isn't everything, GA Pratt, MM Williamson, et al. in Experimental Robotics IV, Lecture Notes in Control and Information Sciences Volume 223, 1997, pp 253-262 2005
Articulated Hands: Force Control and Kinematic Issues, JK Salisbury and JJ Craig in The International Journal of Robotics Research March 1982 vol. 1 no. 1 4-17 (optional)

notes
position
optical
encoder
interferometer
visual
magnetic
resistive
capacitative
force
load cell
strain gauge
compression
resistive
capacitative
vision
OpenCV
WebRTC
video.html
*control

assignment
• Add position &/or force &/or vision measurement to your machine(s)