Control of grasping force by detecting stick/slip distribution at the curved surface of an elastic finger

Takashi Maeno, Shinichi Hiromitsu, Takashi Kawai

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

67 Citations (Scopus)

Abstract

A method for controlling the grasping force when an object is grasped by artificial elastic fingers is proposed. First, the relationship between the stick area and the internal strain distribution of the finger is calculated using FE (finite element) analysis. Based on this relationship, a method is proposed for controlling the grasping force by decreasing the increasing ratio of the tangential force when the stick area is decreasing. Finally, the grasping force is controlled using an actual elastic finger, which is made of silicone rubber and in which strain gages are incorporated. It is confirmed that objects can be grasped using adequate grasping force without complete slippage, even when the weight and the friction coefficient of the objects are unknown.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages3895-3900
Number of pages6
Volume4
Publication statusPublished - 2000
EventICRA 2000: IEEE International Conference on Robotics and Automation - San Francisco, CA, USA
Duration: 2000 Apr 242000 Apr 28

Other

OtherICRA 2000: IEEE International Conference on Robotics and Automation
CitySan Francisco, CA, USA
Period00/4/2400/4/28

Fingerprint

Stick-slip
Strain gages
Silicones
Rubber
Friction
Finite element method

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Maeno, T., Hiromitsu, S., & Kawai, T. (2000). Control of grasping force by detecting stick/slip distribution at the curved surface of an elastic finger. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 4, pp. 3895-3900)

Control of grasping force by detecting stick/slip distribution at the curved surface of an elastic finger. / Maeno, Takashi; Hiromitsu, Shinichi; Kawai, Takashi.

Proceedings - IEEE International Conference on Robotics and Automation. Vol. 4 2000. p. 3895-3900.

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

Maeno, T, Hiromitsu, S & Kawai, T 2000, Control of grasping force by detecting stick/slip distribution at the curved surface of an elastic finger. in Proceedings - IEEE International Conference on Robotics and Automation. vol. 4, pp. 3895-3900, ICRA 2000: IEEE International Conference on Robotics and Automation, San Francisco, CA, USA, 00/4/24.
Maeno T, Hiromitsu S, Kawai T. Control of grasping force by detecting stick/slip distribution at the curved surface of an elastic finger. In Proceedings - IEEE International Conference on Robotics and Automation. Vol. 4. 2000. p. 3895-3900
Maeno, Takashi ; Hiromitsu, Shinichi ; Kawai, Takashi. / Control of grasping force by detecting stick/slip distribution at the curved surface of an elastic finger. Proceedings - IEEE International Conference on Robotics and Automation. Vol. 4 2000. pp. 3895-3900
@inproceedings{5662e950865549b6a1dee6a2f333c4fb,
title = "Control of grasping force by detecting stick/slip distribution at the curved surface of an elastic finger",
abstract = "A method for controlling the grasping force when an object is grasped by artificial elastic fingers is proposed. First, the relationship between the stick area and the internal strain distribution of the finger is calculated using FE (finite element) analysis. Based on this relationship, a method is proposed for controlling the grasping force by decreasing the increasing ratio of the tangential force when the stick area is decreasing. Finally, the grasping force is controlled using an actual elastic finger, which is made of silicone rubber and in which strain gages are incorporated. It is confirmed that objects can be grasped using adequate grasping force without complete slippage, even when the weight and the friction coefficient of the objects are unknown.",
author = "Takashi Maeno and Shinichi Hiromitsu and Takashi Kawai",
year = "2000",
language = "English",
volume = "4",
pages = "3895--3900",
booktitle = "Proceedings - IEEE International Conference on Robotics and Automation",

}

TY - GEN

T1 - Control of grasping force by detecting stick/slip distribution at the curved surface of an elastic finger

AU - Maeno, Takashi

AU - Hiromitsu, Shinichi

AU - Kawai, Takashi

PY - 2000

Y1 - 2000

N2 - A method for controlling the grasping force when an object is grasped by artificial elastic fingers is proposed. First, the relationship between the stick area and the internal strain distribution of the finger is calculated using FE (finite element) analysis. Based on this relationship, a method is proposed for controlling the grasping force by decreasing the increasing ratio of the tangential force when the stick area is decreasing. Finally, the grasping force is controlled using an actual elastic finger, which is made of silicone rubber and in which strain gages are incorporated. It is confirmed that objects can be grasped using adequate grasping force without complete slippage, even when the weight and the friction coefficient of the objects are unknown.

AB - A method for controlling the grasping force when an object is grasped by artificial elastic fingers is proposed. First, the relationship between the stick area and the internal strain distribution of the finger is calculated using FE (finite element) analysis. Based on this relationship, a method is proposed for controlling the grasping force by decreasing the increasing ratio of the tangential force when the stick area is decreasing. Finally, the grasping force is controlled using an actual elastic finger, which is made of silicone rubber and in which strain gages are incorporated. It is confirmed that objects can be grasped using adequate grasping force without complete slippage, even when the weight and the friction coefficient of the objects are unknown.

UR - http://www.scopus.com/inward/record.url?scp=0033706375&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0033706375&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:0033706375

VL - 4

SP - 3895

EP - 3900

BT - Proceedings - IEEE International Conference on Robotics and Automation

ER -