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This paper focuses on fingertip model in three-dimensional grasping and manipulation. A mechanical model of fingertips, which is referred to as the parallel-distributed model, has been proposed to analyze grasping and manipulation process based on the proposed model. Unfortunately, the model and the analysis were two-dimensional; three-dimensional model has not been formulated. In this paper, we build...
This article focuses on the modeling and control in soft-fingered grasping and manipulation. We observed how a pair of 1-DOF fingers, whose fingertips are similar to humans in that they have a soft and hemispherical pad with a buttressing hard back plate, grasped and manipulated a rigid object. Based on the observations, we propose a parallel distributed model that takes into account tangential deformation...
This paper verifies the physical mechanisms of stable grasping and robust manipulation by means of soft-fingered robotic hand. First, we extend our previous one-dimensional fingertip model to a two-dimensional one, adding lateral deformation of the virtual spring placed within the soft fingertip. We mention the physical meaning of LMEE(local minimum of elastic potential energy) and LMEEwC (LMEE with...
In this paper, we show a novel tactile sensor fabricated by embedding a micro-force/moment sensor inside a hemispherical soft fingertip, which is applicable to the object manipulation using robotic hands. This sensor is produced by MEMS technology, designed to detect one force component (Fz) and two moment components (Mx,My). The structure is composed of a central square-block and four crisscross...
We propose a straightforward static elastic model of a hemispherical soft fingertip undergoing large contact deformation, as occurs when robotic hands with the fingertips handle and manipulate objects, which is suitable for the analysis of soft-fingered manipulation because of the simple form of the model. We focus on formulating elastic force and potential energy equations for the deformation of...
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