Friction estimation pressing an elastic finger-shaped sensor against a surface
Friction estimation pressing an elastic finger-shaped sensor against a surface
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DOI：
10.1109/tra.2003.820850
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发表时间：
2004-04-01
期刊：
影响因子：
--
通讯作者：
Cheng, SC
中科院分区：
文献类型：
--
作者：
Maeno, T;Kawamura, T;Cheng, SC
提出了一种仅将弹性指形传感器压在物体表面上即可估计其与平面之间摩擦系数的方法。考虑了平面与半圆柱形手指的接触条件，采用有限元方法进行了分析。根据手指与表面的不同摩擦系数，计算弹性手指的变形、接触力和弹性手指内部的应变分布。结果表明，随着摩擦系数的不同，剪切应变也不同。此外，本文还设计并制作了一种硅橡胶弹性指形传感器。在该传感器的实验中，利用手指内部的应变来估计手指与平面之间的摩擦系数。
A method is proposed to estimate the friction coefficient between a planar surface and an elastic finger-shaped sensor by only pressing a sensor against the surface of an object. The contact condition between a planar surface and a half-cylindrical finger is considered, using finite-element analysis. The deformation of the elastic finger, contact forces, and strain distribution inside the elastic finger are calculated for various friction coefficients between the finger and the surface. Results show that the shear strain differs when the friction coefficient differs. In addition, in this paper, an elastic finger-shaped sensor made of silicone rubber is designed and constructed. In an experiment using this newly designed sensor, the friction coefficient between the finger and the planar surface is estimated using the strain inside the finger.