This thesis presents the Intelligent Gripper, a low cost instrumented robot finger pad which is equipped with an 8 x 8 tactile sensing array and a 2 x 2 proximity sensing grid. The complete system is composed of three modules. The capacitive tactile sensing array utilizes a dual strip construction to improve its robustness and simplicity, a technology initially developed by Sarcos Research Inc- The proximity network is based on infiared range sensing technology. The microprocessor based inter-face module gives the system intelligent capability. In order to reduce the noise and to improve the system modularity, all electric circuitry is localized. The modular architecture gives the system excellent portability. Following the comprehensive evaluation and characterization of the tactile sensing array and its associated electronic system, an experimental exploration to use the tactile sensor in transient contact force control is presented. It is found that using feedback fiom tactile sensor stabilizes the force control. However, the highest performance for transient force control is achieved from a combined feedback fiom tactile sensor and joint force sensor.

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