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ICRA
2009
IEEE

Differentiated layer design to modify the compliance of soft pads for robotic limbs

13 years 10 months ago
Differentiated layer design to modify the compliance of soft pads for robotic limbs
— Most of robotic soft pads studied so far were made with a thick layer of homogeneous material shaped around a rigid core; their behavior has been widely investigated in the literature, mainly under compressive contact load, showing typical non-linear relationship between contact deformation and applied load (the so called power law). This paper proposes differentiated layer design, that is the adoption of a single elastic material, dividing the overall thickness of the pad into layers with different structural design (e.g. a continuous skin layer coupled with an internal layer with voids). The purpose is to modify the actual pad compliance and the resulting power law; in particular, given the material and the allowable pad thickness, to increase the compliance with respect to a non structured pad. Some possible internal layer structures are described, compatible with rapid prototyping manufacturing. Their compressive behaviors are tested and comparatively evaluated showing that the...
Giovanni Berselli, Gabriele Vassura
Added 23 May 2010
Updated 23 May 2010
Type Conference
Year 2009
Where ICRA
Authors Giovanni Berselli, Gabriele Vassura
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