Grip Force Control by Detecting the Internal Strain Distribution Inside the Elastic Finger Having Curved Surface

Takashi Maeno, Kazumi Kobayashi, Takashi Kawai, Yuuichi Hirano

Research output: Contribution to journalArticle

10 Citations (Scopus)


In this study we propose a method for controlling contact force when object is lifted by fingers having curved surface without producing whole slip or applying excessive force even when the weight and the friction coefficient of the object are unknown. The deformation of the elastic finger when the finger is in contact with the object with/without tangential load is calculated by using a FE (finite eloment) analysis. It is found that the partial incipient slip region at the contact surface changes due to the change of the tangential force. It is also found that the internal shear strain distribution is in relation with the partial incipient slip at the contact surface during the precision grip. From this, we can conclude that we can obtain the tangential force change from the shear strain distribution inside the elastic body.

Original languageEnglish
Pages (from-to)1258-1265
Number of pages8
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Issue number620
Publication statusPublished - 1998 Jan 1



  • Biomechanics
  • Contact Problm
  • Finite Element Method
  • Friction
  • Tactile Sensor
  • Tribology

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

Cite this