Experimental Investigation of Mechanics in Soft-fingered Grasping and Manipulation
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- Inoue Takahiro
- Dept. Systems Engineering for Sports, Okayama Pref, Univ.
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- Hirai Shinichi
- Dept. Robotics, Ritsumeikan Univ.
Bibliographic Information
- Other Title
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- 柔軟指による物体把持と操作における力学の実験的解明
- ジュウナンシ ニ ヨル ブッタイ ハジ ト ソウサ ニ オケル リキガク ノ ジッケンテキ カイメイ
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Abstract
This paper describes dynamics of object manipulation performed by a pair of soft fingertips. Soft fingertips en able secure grasping and stable manipulation yet the mechanics of soft-fingered manipulation has not revealed well. Based on the observations of soft-fingered grasping and manipulation, we found that grasping and posture control of a rigid object can be performed by a pair of 1-DOF fingers with soft tips, which contradicts to previous theories on soft-fingered manipulation. In this paper, we propose a parallel distributed model with tangential deformation of hemispherical soft fingertips to formulate the grasping and posture control by a pair of soft fingertips. The proposed model reflects the structure of a human finger consisting of a soft fingertip with a hard fingernail on its reverse side. We then formulate the dynamics of grasping and manipulation performed by a pair of soft fingertips. Experimental results validate the proposed model and formulated dyanamics.
Journal
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- Journal of the Robotics Society of Japan
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Journal of the Robotics Society of Japan 25 (6), 951-959, 2007
The Robotics Society of Japan
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Keywords
Details 詳細情報について
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- CRID
- 1390001204726818304
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- NII Article ID
- 10019859638
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- NII Book ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL BIB ID
- 8939099
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed