TY - JOUR
T1 - Artificial finger skin having ridges and distributed tactile sensors used for grasp force control
AU - Yamada, Daisuke
AU - Maeno, Takashi
AU - Yamada, Yoji
N1 - Copyright:
Copyright 2017 Elsevier B.V., All rights reserved.
PY - 2001
Y1 - 2001
N2 - An artificial elastic finger skin for robot fingers has been developed for controlling grasp force when weight and frictional coefficient of the grasped object are unknown. The elastic finger skin has ridges at the surface to divide the stick/slip area. It also has a pair of tactile sensors embedded per one ridge similar to human fingertips. The surface of the whole finger is curved so that reaction force distributes. A Finite Element (FE) model of the elastic finger skin was made to conduct a dynamic contact analysis using a FE method in order to design the elastic finger skin in detail. Then the elastic finger skin was made. As a result, it was confirmed by calculation and experiment that the incipient slippage of the ridge that occurs near the edge of contact area is detected. This result is useful for controlling grasping force when the weight and friction coefficient between the elastic finger skin and grasping object are unknown.
AB - An artificial elastic finger skin for robot fingers has been developed for controlling grasp force when weight and frictional coefficient of the grasped object are unknown. The elastic finger skin has ridges at the surface to divide the stick/slip area. It also has a pair of tactile sensors embedded per one ridge similar to human fingertips. The surface of the whole finger is curved so that reaction force distributes. A Finite Element (FE) model of the elastic finger skin was made to conduct a dynamic contact analysis using a FE method in order to design the elastic finger skin in detail. Then the elastic finger skin was made. As a result, it was confirmed by calculation and experiment that the incipient slippage of the ridge that occurs near the edge of contact area is detected. This result is useful for controlling grasping force when the weight and friction coefficient between the elastic finger skin and grasping object are unknown.
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U2 - 10.1109/IROS.2001.976249
DO - 10.1109/IROS.2001.976249
M3 - Article
AN - SCOPUS:0035559888
SN - 2153-0858
VL - 2
SP - 686
EP - 691
JO - IEEE International Conference on Intelligent Robots and Systems
JF - IEEE International Conference on Intelligent Robots and Systems
ER -