An artificial elastic finger skin for robot fingers has been developed for controlling grasp force when weight and frictional coefficient of the grasped object are unknown. The elastic finger skin has ridges at the surface to divide the stick/slip area. It also has a pair of tactile sensors embedded per one ridge similar to human fingertips. The surface of the whole finger is curved so that reaction force distributes. A Finite Element (FE) model of the elastic finger skin was made to conduct a dynamic contact analysis using a FE method in order to design the elastic finger skin in detail. Then the elastic finger skin was made. As a result, it was confirmed by calculation and experiment that the incipient slippage of the ridge that occurs near the edge of contact area is detected. This result is useful for controlling grasping force when the weight and friction coefficient between the elastic finger skin and grasping object are unknown.
|ジャーナル||IEEE International Conference on Intelligent Robots and Systems|
|出版ステータス||Published - 2001|
ASJC Scopus subject areas
- コンピュータ ビジョンおよびパターン認識
- コンピュータ サイエンスの応用