Geometry design of an elastic finger-shaped sensor for estimating friction coefficient by pressing an object

Takashi Maeno, Tomoyuki Kawamura

Research output: Contribution to journalConference article

11 Citations (Scopus)

Abstract

Authors have proposed a method for detecting a friction coefficient between a planar object and an elastic finger-shaped sensor by only pressing the sensor against the object in our previous study. In the present study, an elastic finger-shaped sensor made of silicone rubber is designed and produced. First, geometry of the finger-shaped sensor is designed using finite element analysis (FEA). Results of FEA revealed that strain detected using strain gage incorporated near the edge of the contact surface varies when the friction coefficient between the finger-shaped sensor and a planar object varies. Then, in an experiment using the newly designed sensor, it is confirmed that the friction coefficient between the finger and the object is detected using the strain inside the finger when the sensor is pressed against the object.

Original languageEnglish
Pages (from-to)1533-1538
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume1
Publication statusPublished - 2003 Dec 11
Event2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China
Duration: 2003 Sep 142003 Sep 19

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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