Book ChapterDOI
Analysis for Material Selection of Robot Soft Finger Used for Power Grasping
Chiranjibi Champatiray,G. B. Mahanta,S. K. Pattanayak,R. N. Mahapatra +3 more
- pp 961-970
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TLDR
In this paper, the geometric relationship between contact parameters such as deformation, contact area and touch angle of robot soft finger is developed, which enables to determine the total contact force at the contact surface manipulation.Abstract:
The geometric relationship between contact parameters such as deformation, contact area and touch angle of robot soft finger is developed. The suggested nonlinear cylindrical soft finger deforms on the application of normal load and contact surface and touches angle grow correspondingly. The force relationship between contact parameters and geometrical data is derived. The developed theoretical model enables to determine the total contact force at the contact surface manipulation. The theoretical model is validated by conducting experiments with the artificial finger of hyperelastic material (Silicone Ecoflex 00-30). The contact width is measured by conducting compression testing from 10 N to 100 N with an increment of 10 N on silicone finger to leave a vivid print on recording paper, and contact area is calculated from those data. The importance of coefficient of friction cannot be overlooked. The value of coefficient of friction is also calculated from inclined test result. The developed model and soft finger can be used for tackling real-life problems related to object manipulations.read more
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Journal ArticleDOI
Additively Manufactured Custom Soft Gripper with Embedded Soft Force Sensors for an Industrial Robot
TL;DR: Experimental results show that the proposed monoblock gripper with integrated soft sensors successfully performed real-time grasp detection for power grasping.
Journal ArticleDOI
Soft Gripper with EGaIn Soft Sensor for Detecting Grasp Status
Geun-Sik Cho,Yong-Jai Park +1 more
TL;DR: A variable-stiffness soft gripper, based on previous designs, with an added silicone coating for increased friction and an EGaIn soft sensor for monitoring grip forces is proposed, confirming that the strength of the device could be changed according to the intended purpose.
Journal ArticleDOI
A soft crawling robot with a modular design based on electrohydraulic actuator
Sohyun Kim,Youngsu Cha +1 more
TL;DR: In this paper , the authors introduced a caterpillar-inspired soft crawling robot with a fully soft body, which consists of soft modules based on an electrohydraulic actuator, a body frame, and contact pads.
References
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Proceedings ArticleDOI
Design of the TUAT/Karlsruhe humanoid hand
TL;DR: The mechanism and design of a new humanoid-type hand with human-like manipulation abilities is discussed and is designed for the humanoid robot ARMAR which has to work autonomously or interactively in cooperation with humans and for an artificial lightweight arm for handicapped persons.
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Tribology of human skin and mechanical skin equivalents in contact with textiles
TL;DR: In this paper, the authors measured the surface roughness of the textile at normal loads of 1.5 ± 0.7 N and varied among individuals due to different states of skin hydration.
Journal ArticleDOI
Age-dependent biomechanical properties of the skin
TL;DR: Results of thickness measurements revealed that the Young's modulus increased linearly with age, and skin tension measured during in vivo uniaxial load and the elasticity modulus are higher in children than in elderly adults.
Journal ArticleDOI
A review article: investigations on soft materials for soft robot manipulations
TL;DR: A comprehensive investigation into researches on soft materials for robotic applications, including the polymer-matrix composites, available fillers and their advantages, processing methods and nanoparticulated polymer matrix and its significance in robotic application are presented.
Proceedings ArticleDOI
Soft materials for robotic fingers
TL;DR: It is recommended that future robotic hands constitute a soft finger or at least fingers with soft tips, constructed out of carefully chosen materials, which showed that sponge is the most suitable and plastic is the least suitable for the application.