Friction estimation by pressing an elastic finger-shaped sensor against a surface

Takashi Maeno, Tomoyuki Kawamura, Sen Chieh Cheng

研究成果: Article査読

58 被引用数 (Scopus)

抄録

A method is proposed to estimate the friction coefficient between a planar surface and an elastic finger-shaped sensor by only pressing a sensor against the surface of an object. The contact condition between a planar surface and a half-cylindrical finger is considered, using finite-element analysis. The deformation of the elastic finger, contact forces, and strain distribution inside the elastic finger are calculated for various friction coefficients between the finger and the surface. Results show that the shear strain differs when the friction coefficient differs. In addition, in this paper, an elastic finger-shaped sensor made of silicone rubber is designed and constructed. In an experiment using this newly designed sensor, the friction coefficient between the finger and the planar surface is estimated using the strain inside the finger.

本文言語English
ページ(範囲)222-228
ページ数7
ジャーナルIEEE Transactions on Robotics and Automation
20
2
DOI
出版ステータスPublished - 2004 4月

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

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