Artificial finger skin having ridges and distributed tactile sensors used for grasp force control
Artificial finger skin having ridges and distributed tactile sensors used for grasp force control
复制标题
具有脊和分布式触觉传感器的人造手指皮肤，用于抓握力控制
DOI：
10.1109/iros.2001.976249
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发表时间：
2002
期刊：
影响因子：
--
通讯作者：
Yoji Yamada
中科院分区：
文献类型：
--
作者：
D. Yamada;T. Maeno;Yoji Yamada
开发了一种用于机器人手指的人工弹性手指皮肤，用于在被抓取物体的重量和摩擦系数未知的情况下控制抓取力。弹性手指皮肤在表面有脊，以分隔粘连/滑移区域。它还有一对触觉传感器嵌入在每个脊线上，类似于人类的指尖。整个手指的表面是弯曲的，这样就可以分配反作用力。为了设计手指弹性蒙皮，建立了弹性手指蒙皮的有限元模型，并利用有限元方法进行了动态接触分析。然后构建了有弹性的手指皮肤。通过计算和实验证实，可以检测到接触区边缘附近发生的突起滑移。这一结果对于在弹性手指皮肤与抓取物体之间的重量和摩擦系数未知的情况下控制抓取力是有用的。
An artificial elastic finger skin for robot fingers was developed for controlling the grasp force when the weight and friction coefficient of the grasped object are unknown. The elastic finger skin has ridges at the surface to divide the stick/slip area. It also has a pair of tactile sensors embedded per one ridge similar to human fingertips. The surface of the whole finger is curved so that the reaction force can be distributed. A finite element (FE) model of the elastic finger skin was developed to perform a dynamic contact analysis using the FE method in order to design the elastic finger skin. The elastic finger skin was then constructed. It was confirmed by calculation and experiment that the incipient slippage of the ridge that occurs near the edge of contact area can be detected. This result is useful for controlling the grasping force when the weight and friction coefficient between the elastic finger skin and grasping object are unknown.