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ICARCV
2008
IEEE

Force/moment sensing during sliding motion using a micro sensor embedded in a soft fingertip

9 years 12 months ago
Force/moment sensing during sliding motion using a micro sensor embedded in a soft fingertip
—We have investigated the deformation of a soft fingertip when it slides. This process was first simulated using ANSYS software with non-linear Finite Element Analysis (FEA). Based on the results of this simulation, we designed experiments to observe the sliding and object grasping of a soft fingertip, in which, a 4-DOF (degree of freedom) micro force/moment sensor was embedded inside the soft fingertip. With this sensor, values of force and moment acting in the fingertip are measured, based on the piezoresistive effect. These measurements provide information on the status of contact and sliding of a soft fingertip on a surface. Based on these results, incipient slip, which has an important role in object gripping by a robot manipulator, can be realized.
Van Anh Ho, Dzung Viet Dao, Susumu Sugiyama, Shini
Added 30 May 2010
Updated 30 May 2010
Type Conference
Year 2008
Where ICARCV
Authors Van Anh Ho, Dzung Viet Dao, Susumu Sugiyama, Shinichi Hirai
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