TY - GEN
T1 - Effect of layer compliance on frictional behavior of soft robotic fingers
AU - Tiezzi, Paolo
AU - Kao, Imin
AU - Vassura, Gabriele
PY - 2006
Y1 - 2006
N2 - In this paper, the modeling and design for frictional loads applied by robotic fingertips through soft contact interface are investigated. The dependence of the sustainable friction forces and moments due to the normal load applied on the contact area is studied. A model that considers the dependence of both the contact area and the coefficient of friction on the application of normal load is proposed. Specimens of simplified fingertips, made with different materials and shaped with different thickness of the covering soft layer, are tested in order to validate the proposed model via designed experiments. The results obtained have very important relevance on the design of robotic hands and fingers equipped with soft pads or skins, and can help on the choice of suitable features for the different layers of contact pads or skins.
AB - In this paper, the modeling and design for frictional loads applied by robotic fingertips through soft contact interface are investigated. The dependence of the sustainable friction forces and moments due to the normal load applied on the contact area is studied. A model that considers the dependence of both the contact area and the coefficient of friction on the application of normal load is proposed. Specimens of simplified fingertips, made with different materials and shaped with different thickness of the covering soft layer, are tested in order to validate the proposed model via designed experiments. The results obtained have very important relevance on the design of robotic hands and fingers equipped with soft pads or skins, and can help on the choice of suitable features for the different layers of contact pads or skins.
UR - https://www.scopus.com/pages/publications/34247258790
U2 - 10.1109/IROS.2006.281860
DO - 10.1109/IROS.2006.281860
M3 - Conference contribution
AN - SCOPUS:34247258790
SN - 142440259X
SN - 9781424402595
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 4012
EP - 4017
BT - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
T2 - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Y2 - 9 October 2006 through 15 October 2006
ER -