Method for displaying partial slip used for virtual grasp

Masayuki Mori, Takashi Maeno, Yoji Yamada

Research output: Contribution to journalArticlepeer-review


A method is presented to display partial slip in precision grip of humans. Partial slip is important information for precision grip of humans, because the human controls grasping force by detecting expansion of the partial slip area. Therefore, a device that displays partial slip will make it easier for remote controlled mechanical hands to grasp objects, irrespective of the friction coefficient between the mechanical hand and object. To design the device displaying partial slip, we analyzed the deformation of a finger when in contact with a rigid plate using a finite element model. We also analyzed the deformation of the finger section model when in contact with the device that displays partial slip. . As a result of the analyses, it is confirmed that there is a possibility in displaying partial slip using a tactile displaying device, which simulates the finger with three stimulating parts. We also confirm the effectiveness of the method to stimulate the finger with three stimulating parts.

Original languageEnglish
Pages (from-to)1582-1589
Number of pages8
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Issue number5
Publication statusPublished - 2006


  • Finite Element Method
  • Stimuli in Tangential Direction
  • Tactile Display

ASJC Scopus subject areas

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


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