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Rotational contact model of soft fingertip for tactile sensing
Inoue, T.; Hirai, S.;
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
Volume 3,
Apr 26-May 1, 2004
Page(s):2957
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2962 Vol.3
Abstract:
This paper proposes a new contact model of a soft fingertip attached on a rotational finger of one degree-of-freedom. We analyze the deformation of the soft fingertip statically, and introduce a virtual spring as an infinitesimal component of the soft fingertip. We correlate the derived force equation with a pressure distribution acting on a sensing plane. Finally we compare simulation results and experimental results to demonstrate our theoretical pressure model.
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