Control of Grasping Force by Estimating Stick/Slip Distribution at the Contact Interface of an Elastic Finger Having Curved Surface
Control of Grasping Force by Estimating Stick/Slip Distribution at the Contact Interface of an Elastic Finger Having Curved Surface
复制标题
通过估计具有曲面的弹性手指接触界面的粘/滑分布来控制抓握力
DOI：
10.7210/jrsj.19.91
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发表时间：
2001
期刊：
影响因子：
--
通讯作者：
T. Kawai
中科院分区：
文献类型：
--
作者：
T. Maeno;Shinichi Hiromitsu;T. Kawai
人的手指允许使用足够的抓握力来举起物体而不会滑动，即使物体的重量和摩擦系数是未知的。抓握力是通过使用手指组织中的触觉感受器检测皮肤的复杂反应来控制的。在这项研究中，我们提出了一种方法来控制抓持力时，物体被抓持的人工弹性手指，其中许多传感器。首先，利用有限元分析方法，详细计算了手指的粘滞面积与内部应变分布之间的关系。得到了接触面粘着面积与内部应变分布速度之间的定量关系。由此，我们提出了一种方法来控制抓持力的切向力的增加率时，坚持面积减少。最后，通过实际的硅橡胶弹性手指，其中包含应变片控制抓持力。它被证实，即使当物体的重量和摩擦系数是未知的，物体可以抓住使用足够的抓地力没有完全滑移。
Fingers of human allow an object to be lifted using adequate grasping force and without slippage, even when the weight and friction coefficient of the object are unknown. Grasping force is controlled by detecting complex response of the skin using tactile receptors incorporated in the finger tissue. In this study, we propose a method for controlling the grasping force when objects are grasped by artificial elastic fingers in which many sensors are incorporated. First the relationship between the stick area and internal strain distribution of the finger is calculated in detail by using FE (finite element) analysis. The quantitative relationship between the stick area in the contact surface and the velocity of internal strain distribution is obtained. From these, we propose a method for controlling the grasping force by decreasing the increasing ratio of the tangential force when the stick area is decreasing. Finally, the grasping force is controlled by using the actual elastic finger made of silicorn rubber in which strain gages are incorporated. It is confirmed that objects can be grasped using adequate grasping force without complete slippage even when the weight and the friction coefficient of the objects are unknown.