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

Takashi Maeno, Tomoyuki Kawamura

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

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
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages1533-1538
Number of pages6
Volume1
Publication statusPublished - 2003
Event2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China
Duration: 2003 Sep 142003 Sep 19

Other

Other2003 IEEE International Conference on Robotics and Automation
CountryTaiwan, Province of China
CityTaipei
Period03/9/1403/9/19

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ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Maeno, T., & Kawamura, T. (2003). Geometry design of an elastic finger-shaped sensor for estimating friction coefficient by pressing an object. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 1, pp. 1533-1538)