Design of Artificial Finger Skin Having Ridges and Distributed Tactile Sensors
نویسندگان
چکیده
An artificial elastic finger for grasping an object, which we call an “artificial finger skin” is designed. Characteristics of the artificial finger skin are as follows: First, it has ridges at the surface and tactile sensors distributed underneath the ridges same as finger of human. Second, it has a curved surface in broad perspective. Third, it is made of an elastic silicone rubber so as to transform elastic deformation to the sensors. A Finite Element (FE) model of the artificial finger skin is made to conduct a dynamic contact analysis using a FE method in order to design the artificial finger skin in detail. As a result, it is confirmed that the designed artificial finger skin can detect partial incipient slippage of the ridge that occurs at the edge of the contact surface even when the weight and friction condition between the artificial finger skin and grasping object are changed.
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Artificial finger skin having ridges and distributed tactile sensors used for grasp force control
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