Study of the relationship between the strain and strain rate for viscoelastic contact interface in robotic grasping

IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

Volumn , Issue , 2010, Pages 592-597

  Tsai, Chia Hung Dylan ^a   Nishiyama, Jun ^a   Kao, Imin ^a   Higashimori, Mitsuru ^b   Kaneko, Makoto ^b  

^a Stony Brook University   (United States)

^b OSAKA UNIVERSITY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

EQUILIBRIUM STRAIN; GRASPED OBJECT; GRASPING AND MANIPULATION; LATENCY MODEL; REPEATED LOADING; ROBOTIC GRASPING; SOFT CONTACTS; TEMPORAL RESPONSE; TYPE II; VISCOELASTIC CONTACT;

END EFFECTORS; INTELLIGENT ROBOTS; ROBOTICS; UNLOADING;

STRAIN RATE;

EID: 78651491209     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2010.5649734     Document Type: Conference Paper

References (30)

1. D. B. Adolf, R. S. Chambers, and J. Flemming. Potential energy clock model: Justification and challenging predictions. Journal of Rheology, 51(3):517-540, 2007.
2. F. Barbagli, A. Frisoli, K. Salisbury, and M. Bergamasco. Simulating human fingers: a soft finger proxy model and algorithm. In Proc. IEEE Int. Symp. on Haptic Interface, HAPTICS'04, 2004.
3. W. N. Findley and J. S. Y. Lay. A modified superposition principle applied to creep of non-linear viscoelastic material under abrupt changes in state of combined stress. Trans. of the Society of Rheology, vol. 11(3):361-380, 1967.
4. W. Flugge. Viscoelasticity. Blaisdell Publishing Company, 1967.
5. R. Fowles and number = 1 year = 1970 pages = 360 - 363 R. F. Williams), volume = 41. Plane stress wave propagation in solids. Journal of Applied Physics.
6. Y. C. Fung. Biomechanics: Mechanical Properties of Living Tissues. Springer-Verlag, 1993.
7. A. Z. Golik and Y. F. Zabashta. a molecular model of creep and stress relaxation in crystalline polymers. Mekhanika Polimerov, pages 969-975, 1971.
8. R. D. Howe, N. Popp, I. Kao, P. Akella, and M. R. Cutkosky. Grasping, manipulation, and control with tactile sensing. In Proc. IEEE Int. Conf. on Robotics and Automation, ICRA, Cincinnati, OH, 1990.
9. T. Inoue and S. Hirai. Elastic model of deformable fingertip for soft-fingered manipulation. IEEE Trans. in Robotics, 22:1273-1279, 2006.
10. T. Inoue and S. Hirai. Quasi-static manipulation using hemispherical soft fingertips by means of minimum d.o.f. two-fingered robotic hand. J. of the Robotics Society of Japan, 24:945-953, 2006.
11. I. Kao and F. Yang. Stiffness and contact mechanics for soft fingers in grasping and manipulation. the IEEE Trans. of Robotics and Automation, 20(1):132-135, February 2004.
12. M. Kimura, Y. Sugiyama, S. Tomokuni, and S. Hirai. Constructing rheologically deformable virtual objects. In Proc. IEEE Int. Conf. on Robotics and Automation, ICRA, pages 3737-3743, 2003.
13. Y. Li and I. Kao. A review of modeling of soft-contact fingers and stiffness control for dextrous manipulation in robotics. In Proc. IEEE Int. Conf. on Robotics and Automation, ICRA, pages 3055-3060, Seoul, Korea, 2001.
14. D. T. V. Pawluk and R. D. Howe. Dynamic contact of the human fingerpad against a flat surface. ASME Jour. of Biomechanical Engineering, vol. 121(6):605-611, 1999.
15. J.M. Pereira, J.J. Mansour, and B.R. Davis. Dynamic measurement of the viscoelastic properties of skin. Journal of Biomechanics, 24(2):157-162, 1991. Collagen Network;Dynamic Wave Propagation Method;Proteoglycan Gel;Skin Strain Properties;Skin Viscoelastic Properties;.
16. N. Sakamoto, M. Higashimori, T. Tsuji, and M. Kaneko. An optimum design of robotic hand for handling a visco-elastic object based on maxwell model. In Proc. IEEE Int. Conf. on Robotics and Automation, ICRA 2007, pages 1219-1225, Roma, Italy, April 10-14 2007.
17. K. B. Shimoga and A. A. Goldenberg. Soft robotic fingertips - part I and II: A comparison of construction materials. Int. Jour. of Robotic Research, 15(4), 1996.
18. Paul Stucky and William Lord. Finite element modeling of transient ultrasonic waves in linear viscoelastic media. IEEE Transactions on Ultrasonics, Ferroelectrics, and Frequency Control, 48(1):6-16, 2001. Linear viscoelastic media;.
19. H. Takagi, M. Takahashi, R. Maeda, Y. Onishi, Y. Iriye, T. Iwasaki, and Y. Hirai. Analysis of time dependent polymer deformation based on a viscoelastic model in thermal imprint process. Microelectronic Engineering, 85:902-906, 2008.
20. P.S. Theocaris and N. Papadopoulou. Propagation of stress waves in viscoelastic media. Polymer, 19(2):215-219, 1978. (Pubitemid 8575994)
21. P. Tiezzi and I. Kao. Characteristics of contact and limit surface for viscoelastic fingers. In IEEE Int. Conf. on Robotics and Automation, ICRA 2006, pages 1365-1370, Orlando, Florida, May 15-19 2006.
22. P. Tiezzi and I. Kao. Modeling of viscoelastic contacts and evolution of limit surface for robotic contact interface. IEEE Transaction on Robotics, 23(2):206-217, April 2007.
23. P. Tiezzi, I. Kao, and G. Vassura. Effect of layer compliance on frictional behavior of soft robotic fingers. In Proc. IEEE Int. Conf. on Intelligent Robots and Systems (IROS 2006), pages 4012-4017, Beijing, China, October 2006.
24. P. Tiezzi, I. Kao, and G. Vassura. Effect of layer compliance on frictional behavior of soft robotic fingers. Advanced Robotics, 21(14):1653-1670, 2007.
25. C. D. Tsai and I. Kao. The latency model for viscoelastic contact interface in robotics: Theory and experiments. In Proc. 2009 IEEE Int. Conf. on Robotics and Automation (ICRA 2009), pages 1291-1296, Kobe, Japan, May 2009.
26. C. D. Tsai, I. Kao, N. Sakamoto, M. Higashimori, and M. Kaneko. Applying viscoelastic contact modeling to grasping task: an experimental case study. In International Conference on Intelligent Robots and Systems, IROS, pages 3737-3743, 2008.
27. C. D. Tsai, I. Kao, K. Yoshimoto, M. Higashimori, and M. Kaneko. An experimental study and modeling of loading and unloading of nonlinear viscoelastic contacts. In International Conference on Intelligent Robots and Systems, IROS, pages 3737-3743, October 2009.
28. D. Turhan and Y. Mengi. Propagation of initially plane waves in nonhomogeneous viscoelastic media. International Journal of Solids and Structures, 13(2):79-92, 1977. NONHOMOGENEOUS VISCOELASTIC MEDIA;WAVE PROPAGATION;.
29. N. Xydas and I. Kao. Modeling of contacts and force/moment for anthropomorphic soft fingers. In Proc. of Int. Conf. on Intelligent Robots and Systems, IROS, pages 488-493, Victoria, Canada, 1998.
30. N. Xydas and I. Kao. Modeling of contact mechanics and friction limit surface for soft fingers in robotics, with experimental results. Int. J. of Robotic Research, 18(8):941-950, 1999.