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The latency model is an analytical model for describing the behavior of nonlinear viscoelastic contact interface in robotic grasping and manipulation. The latency model is based on experimental observation of viscoelastic materials which exhibit the behavior of both elastic and temporal responses when subject to external force or displacement. It is postulated that such materials display latency in...
In this paper, we employ Fungpsilas viscoelastic model discussed by Tiezzi and Kao to study the experimental data presented by Sakamoto et al. for grasping viscoelastic objects using a parallel-jaw gripper. The viscoelastic contact modeling presented in this paper is characterized by two separate responses: elastic response and temporal response. Two main and intriguing results were found in the modeling...
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