Title :
Rotational contact model of soft fingertip for tactile sensing
Author :
Inoue, Takahiro ; Hirai, Shinichi
Author_Institution :
Dept. of Robotics, Ritsumeikan Univ., Shiga, Japan
fDate :
26 April-1 May 2004
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.
Keywords :
tactile sensors; pressure distribution; rotational contact model; soft fingertip; tactile sensing; Capacitive sensors; Deformable models; Electronic mail; Equations; Fingers; Force sensors; Humans; Robot sensing systems; Springs; Tactile sensors;
Conference_Titel :
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
Print_ISBN :
0-7803-8232-3
DOI :
10.1109/ROBOT.2004.1307510
