Design of Artificial Finger Skin Having Ridges and Distributed Tactile Sensors
Design of Artificial Finger Skin Having Ridges and Distributed Tactile Sensors
复制标题
具有脊线和分布式触觉传感器的人造手指皮肤的设计
DOI：
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发表时间：
2001
期刊：
影响因子：
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通讯作者：
T. Maeno
中科院分区：
文献类型：
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作者：
D. Yamada;Yoji Yamada;T. Maeno
设计了一种用于抓取物体的人工弹性手指，我们称之为“人工手指皮肤”。该人工手指皮肤的特点是：第一，它的表面具有与人类手指相同的脊，脊下分布有触觉传感器。第二，它在广阔的视野中具有曲面。第三，它由弹性硅橡胶制成，以便将弹性变形转换到传感器。建立了人工手指皮肤的有限元模型，采用有限元方法进行了动态接触分析，以详细设计人工手指皮肤。其结果是，即使在人工手指皮肤与把持对象物之间的重量及摩擦条件发生变化的情况下，也能够检测出在接触面的边缘部发生的隆起部的局部初期滑动。
An artificial elastic finger for grasping an object, which we call an “artificial finger skin” is designed. Characteristics of the artificial finger skin are as follows: First, it has ridges at the surface and tactile sensors distributed underneath the ridges same as finger of human. Second, it has a curved surface in broad perspective. Third, it is made of an elastic silicone rubber so as to transform elastic deformation to the sensors. A Finite Element (FE) model of the artificial finger skin is made to conduct a dynamic contact analysis using a FE method in order to design the artificial finger skin in detail. As a result, it is confirmed that the designed artificial finger skin can detect partial incipient slippage of the ridge that occurs at the edge of the contact surface even when the weight and friction condition between the artificial finger skin and grasping object are changed.