Artificial finger skin having ridges and distributed tactile sensors used for grasp force control

Daisuke Yamada, Takashi Maeno, Yoji Yamada

Research output: Chapter in Book/Report/Conference proceedingConference contribution

36 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Pages686-691
Number of pages6
Volume2
Publication statusPublished - 2001
Event2001 IEEE/RSJ International Conference on Intelligent Robots and Systems - Maui, HI, United States
Duration: 2001 Oct 292001 Nov 3

Other

Other2001 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountryUnited States
CityMaui, HI
Period01/10/2901/11/3

Fingerprint

Force control
Skin
Sensors
Stick-slip
Robots
Friction
Finite element method
Experiments

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Yamada, D., Maeno, T., & Yamada, Y. (2001). Artificial finger skin having ridges and distributed tactile sensors used for grasp force control. In IEEE International Conference on Intelligent Robots and Systems (Vol. 2, pp. 686-691)

Artificial finger skin having ridges and distributed tactile sensors used for grasp force control. / Yamada, Daisuke; Maeno, Takashi; Yamada, Yoji.

IEEE International Conference on Intelligent Robots and Systems. Vol. 2 2001. p. 686-691.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Yamada, D, Maeno, T & Yamada, Y 2001, Artificial finger skin having ridges and distributed tactile sensors used for grasp force control. in IEEE International Conference on Intelligent Robots and Systems. vol. 2, pp. 686-691, 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, Maui, HI, United States, 01/10/29.
Yamada D, Maeno T, Yamada Y. Artificial finger skin having ridges and distributed tactile sensors used for grasp force control. In IEEE International Conference on Intelligent Robots and Systems. Vol. 2. 2001. p. 686-691
Yamada, Daisuke ; Maeno, Takashi ; Yamada, Yoji. / Artificial finger skin having ridges and distributed tactile sensors used for grasp force control. IEEE International Conference on Intelligent Robots and Systems. Vol. 2 2001. pp. 686-691
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