Elastic model of deformable fingertip for soft-fingered manipulation

IEEE Transactions on Robotics

Volumn 22, Issue 6, 2006, Pages 1273-1279

  Inoue, Takahiro ^a   Hirai, Shinichi ^a  

^a RITSUMEIKAN UNIVERSITY   (Japan)

Author keywords

Deformation model; Elasticity; Grasping; Manipulation; Robotic hand; Soft fingertip

Indexed keywords

CONTACT ANGLE; DEFORMATION; ELASTICITY; END EFFECTORS; GRIPPERS; MATHEMATICAL MODELS; ROBOTICS;

GRASPING; SOFT FINGERTIP; VIRTUAL SPRINGS;

MANIPULATORS;

EID: 33845549146     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2006.886274     Document Type: Article

References (14)

1. Y. Yokokohji, M. Sakamoto, and T. Yoshikawa, "Vision-aided object manipulation by a multifingered hand with soft fingertips," in Proc. IEEE Int. Conf. Robot. Autom., 1999, pp. 3201-3208.
2. Y. Yokokohji, M. Sakamoto, and T. Yoshikawa, "Object manipulation by soft fingers and vision," in Proc. 9th Int. Symp. Robot. Res., 2000, pp. 365-374.
3. H. Maekawa, K. Komoriya, and K. Tanie, "Manipulation of an unknown object by multifingered hands with rolling contact using tactile feedback," in Proc. IEEE Int. Conf. Intell. Robots Syst., 1992, pp. 1877-1882.
4. H. Maekawa, K. Tanie, K. Komoriya, M. Kaneko, C. Horiguchi, and T. Sugawara, "Development of a finger-shaped tactile sensor and its evaluation by active touch," in Proc. IEEE Int. Conf. Robot. Autom., 1992, pp. 1327-1334.
5. S. Arimoto, P. Nguyen, H. Y. Han, and Z. Doulgeri, "Dynamics and control of a set of dual fingers with soft tips," Robotica, vol. 18, pp. 71-80, 2000.
6. S. Arimoto, Z. Doulgeri, P. Nguyen, and J. Fasoulas, "Stable pinching by a pair of robot fingers with soft tips under the effect of gravity," Robotica, vol. 20, pp. 241-249, 2002.
7. Z. Doulgeri, J. Fasoulas, and S. Arimoto, "Feedback control for object manipulation by a pair of soft tip fingers," Robotica, vol. 20, pp. 1-11, 2002.
8. Z. Doulgeri and J. Fasoulas, "Grasping control of rolling manipulation with deformable fingertips," IEEE/ASME Trans. Mechatron., vol. 8, no. 2, pp. 283-286, Mar. 2003.
9. N. Xydas and I. Kao, "Modeling of contact mechanics and friction limit surfaces for soft fingers in robotics, with experimental results," J. Robot. Res., vol. 18, no. 8, pp. 941-950, 1999.
10. N. Xydas, M. Bhagavat, and I. Kao, "Study of soft-finger contact mechanics using finite elements analysis and experiments," in Proc. IEEE Int. Conf. Robot. Autom., 2000, pp. 2179-2184.
11. I. Kao and F. Yang, "Stiffness and contact mechanics for soft fingers in grasping and manipulation," IEEE Trans. Robot. Autom., vol. 20, no. 1, pp. 132-135, Feb. 2004.
12. J. L. Johnson, Contact Mechanics. Cambridge, U.K.: Cambridge Univ. Press, 1985, ch. 4.
13. Y. Tatara, "On compression of rubber elastic sphere over a large range of displacements - Part I: Theoretical study," ASME J. Eng. Mater. Technol., vol. 113, pp. 285-291, 1991.
14. T. Inoue and S. Hirai, "Study on hemispherical soft-fingered handling for fine manipulation by minimum D.O.F. robotic hand," in Proc. IEEE Int. Conf. Robot. Autom., 2006, pp. 2454-2459.