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HAPTICS
2007
IEEE

109views Human Computer Interaction» more HAPTICS 2007»

Soft Finger Model with Adaptive Contact Geometry for Grasping and Manipulation Tasks

13 years 11 months ago

Download www1.cs.columbia.edu

This paper presents a method for building analytical contact models for soft ﬁngers. Friction constraints are derived based on general expressions for non-planar contacts of ela...

Matei T. Ciocarlie, Claire Lackner, Peter K. Allen

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ICRA
2010
IEEE

147views Robotics» more ICRA 2010»

Two-phased controller for a pair of 2-DOF soft fingertips based on the qualitative relationship between joint angles and object

13 years 3 months ago

Download www.mint.se.ritsumei.ac.jp

— We have previously shown that hemispherical soft ﬁngertips are at equilibrium when they are in contact with objects, suggesting that the contact force and ﬂexibility of the...

Yujiro Yamazaki, Takahiro Inoue, Shinichi Hirai

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