Development of Elastic Robot Finger having Rides which can Detect a Distribution of Contact Condition

Daisuke Yamada, Takashi Maeno, Yoji Yamada

Research output: Contribution to journalArticle

6 Citations (Scopus)

Abstract

An elastic robot finger has been developed for controlling grasping force when weight and frictional coefficient of grasped object are unknown. First, geometry of the finger is designed. The elastic finger has ridges at the surface to divide the contact area. Geometry of the ridges is trapezoid like human ridges. 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 normal reaction force distributes unequally. A Finite Element (FE) model of the elastic finger was made to conduct a dynamic contact analysis using a FE method in order to design the elastic finger in detail. Then the elastic finger was made to confirm the results of FE analyses. At a result, it was confirmed by calculation and experiment that the elastic finger can detect the incipient slippage of the ridge that occurs near the edge of contact area and can deduce the stick area ratio. This result in useful for controlling grasping force when the weight and friction coefficient between the elastic finger and grasping object are unknown.

Original languageEnglish
Pages (from-to)560-566
Number of pages7
JournalNippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume70
Issue number2
Publication statusPublished - 2004 Feb

Fingerprint

Robots
Geometry
Friction
Finite element method
Sensors
Experiments

Keywords

  • Biomimetics
  • Finite Element Analysis
  • Grasping Force Control
  • Tactile Sensing

ASJC Scopus subject areas

  • Mechanical Engineering

Cite this

@article{35519ada28e74b17a74d919d5b0fee08,
title = "Development of Elastic Robot Finger having Rides which can Detect a Distribution of Contact Condition",
abstract = "An elastic robot finger has been developed for controlling grasping force when weight and frictional coefficient of grasped object are unknown. First, geometry of the finger is designed. The elastic finger has ridges at the surface to divide the contact area. Geometry of the ridges is trapezoid like human ridges. 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 normal reaction force distributes unequally. A Finite Element (FE) model of the elastic finger was made to conduct a dynamic contact analysis using a FE method in order to design the elastic finger in detail. Then the elastic finger was made to confirm the results of FE analyses. At a result, it was confirmed by calculation and experiment that the elastic finger can detect the incipient slippage of the ridge that occurs near the edge of contact area and can deduce the stick area ratio. This result in useful for controlling grasping force when the weight and friction coefficient between the elastic finger and grasping object are unknown.",
keywords = "Biomimetics, Finite Element Analysis, Grasping Force Control, Tactile Sensing",
author = "Daisuke Yamada and Takashi Maeno and Yoji Yamada",
year = "2004",
month = "2",
language = "English",
volume = "70",
pages = "560--566",
journal = "Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C",
issn = "0387-5024",
publisher = "Japan Society of Mechanical Engineers",
number = "2",

}

TY - JOUR

T1 - Development of Elastic Robot Finger having Rides which can Detect a Distribution of Contact Condition

AU - Yamada, Daisuke

AU - Maeno, Takashi

AU - Yamada, Yoji

PY - 2004/2

Y1 - 2004/2

N2 - An elastic robot finger has been developed for controlling grasping force when weight and frictional coefficient of grasped object are unknown. First, geometry of the finger is designed. The elastic finger has ridges at the surface to divide the contact area. Geometry of the ridges is trapezoid like human ridges. 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 normal reaction force distributes unequally. A Finite Element (FE) model of the elastic finger was made to conduct a dynamic contact analysis using a FE method in order to design the elastic finger in detail. Then the elastic finger was made to confirm the results of FE analyses. At a result, it was confirmed by calculation and experiment that the elastic finger can detect the incipient slippage of the ridge that occurs near the edge of contact area and can deduce the stick area ratio. This result in useful for controlling grasping force when the weight and friction coefficient between the elastic finger and grasping object are unknown.

AB - An elastic robot finger has been developed for controlling grasping force when weight and frictional coefficient of grasped object are unknown. First, geometry of the finger is designed. The elastic finger has ridges at the surface to divide the contact area. Geometry of the ridges is trapezoid like human ridges. 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 normal reaction force distributes unequally. A Finite Element (FE) model of the elastic finger was made to conduct a dynamic contact analysis using a FE method in order to design the elastic finger in detail. Then the elastic finger was made to confirm the results of FE analyses. At a result, it was confirmed by calculation and experiment that the elastic finger can detect the incipient slippage of the ridge that occurs near the edge of contact area and can deduce the stick area ratio. This result in useful for controlling grasping force when the weight and friction coefficient between the elastic finger and grasping object are unknown.

KW - Biomimetics

KW - Finite Element Analysis

KW - Grasping Force Control

KW - Tactile Sensing

UR - http://www.scopus.com/inward/record.url?scp=2142761614&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=2142761614&partnerID=8YFLogxK

M3 - Article

AN - SCOPUS:2142761614

VL - 70

SP - 560

EP - 566

JO - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C

JF - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C

SN - 0387-5024

IS - 2

ER -