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Current Elastic SfT (Shape from Template) methods are based on l2-norm minimization. None can accurately recover the spatial location of the acting forces since l2-norm based minimization tends to find the best tradeoff among noisy data to fit an elastic model. In this work, we study shapes that are deformed with spatially sparse set of forces. We propose two formulations for a new class of SfT problems...
This research investigated the effects of three different drawbead shapes under three blankholder forces on the non-symmetrical deep drawing metal workpiece. In the study, simulations were carried out on three grades of cold rolled steel sheets (i.e. SPCC, SPCD and SPCE) using the finite element method (FEM) and the actual experimentations performed for comparison. The experimental drawbead shapes...
Lunar dust can cause mechanical clogging and seal failures in lunar events, so it is essential to study the contact state of lunar dust particles which stuck in the mechanisms. The soft ball model based on Hertz theory is commonly used in particle contact problem. However, the assumptions of soft ball model are not applicable to lunar dust particles with irregular shapes and rough surfaces. To solve...
In this study, we experimentally investigated the effect of robot fingertip stiffness on the maximum resistible force. The maximum resistible force is defined as the maximum tangential force at which the fingertip can maintain contact when applying and increasing tangential/shearing force. We include in the definition of this term the effect of fingertip deformation. In contrast to our previous study...
In this paper we report on the development of a modular multi-DoF F/T sensor and its use in the implementation of a sensorized object capable of multi-touch detection. The sensor is composed of six 6-axis F/T sensors spatially organized on the faces of a cube. Different calibration methods are presented to directly tackle the coupling phenomena inherent to the spatial organization of the faces and...
A novel actuator is presented that merges traditional electromechanical motors and multistable composite structures. Previously, it has been shown that these structures are able to arrange themselves in multiple stable configurations corresponding to local minima of their strain energy. When coupled with an electromechanical motor as proposed in this article, the resulting actuator shows significant...
The springback is mainly an elastic deformation which occurs after sheet metal forming processes. This paper analyzed the mechanism of deep drawing springback of sheet metal forming, and the springback compensation was studied. Based on this, taking the stiffener parts of auto as an example, the paper analyzed the trend and distribution of springback and its distribution under different conditions...
A method for structural damage identification using residual force vector and mode shape expansion is presented in this paper. To deal with the incompleteness of measured modal data, a mode shape expansion method is first introduced to match with all degrees of freedom of the finite element model under consideration. And then, the residual force vector is employed to locate the damage position and...
Making changes of cells function by regulating the external mechanical environment is one of the major interests in the mechanobiology field. Based on extensive studies, force at nano-to-micro newton and geometric shape changes at nano-to-micrometer are the physical stimuli that can be sensed by cells. It has been postulated that controllable cell responses can be produced by activating diversity...
Grasping a deformable object instantaneously requires maintaining equilibrium of its pre- and post-deformed shapes using the same set of forces. This paper studies the type of grasps generated by squeezing a planar object with two fingers. It is shown that the success of such a grasp is independent of the applied forces in the case of small deformation. Numerical algorithms are introduced to compute...
We aim at using variable shape cantilever beam to improve the efficiency of energy harvesting from ambient vibration in wireless grid sensor applications. The cantilever beam is composed of an active layer composed of a piezoelectric material and a metallic layer (unimorph design). A tip mass attached to the free end of the cantilever beam is added to increase the inertial forces of the structure...
There are many kinds of deformable objects in our living life. Some of them such as human tissues, human organs, and food exhibit rheological behaviors when they are subject to external force. In surgery simulation and food engineering, we need to simulate or control such behaviors. In this paper, four-element model associated with finite element (FE) method was employed to model rheological deformation...
In this paper, a new method to model the global deformation between a rigid object and an elastic object with a hole is presented. This method extends the idea of beam-skeletons by introducing curved cantilever beams for efficient modeling of global deformation of elastic objects with holes. The method is implemented and tested on different examples. Results from three examples are given to demonstrate...
The macromodeling method for micro-electro-mechanical system involving multiple energy domains has become a key issue for fast simulations. In this paper, a macromodeling method based on mode superposition is focused on a circular microplate subjected to distributed electrostatic force. During the construction of reduced- order model (ROM), the energy sample data are calculated by running finite-element...
In order to solve the problem dealing with the shape recovering by using spring and large excitation power of magnetically controlled shape memory alloy (MSMA) actuator, a new rotating MSMA actuator in the differential control way of the two MSMA elements is proposed in this paper. On the basis of permanent magnet bias magnetic field, the rotating speed can be controlled by changing the amplitude...
There are many kinds of deformable objects in our living life. Some of them exhibit rheological behaviors when they are subject to external force, such as human tissues, human organs, and food. If we want to simulate or control such behaviors, we have to know the physical parameters of the object in advance. In this paper, we propose an approach to identify these parameters based on 2D finite element...
This paper addresses a largely open problem in haptic simulation and rendering: contact force and deformation modeling for haptic simulation of grasping a deformable object with a realistic virtual human hand, especially in power grasps. The virtual hand model consists of meshes of realistic shapes for the finger links and palm of a hand. We tackle the problem by adopting the non-linear contact force...
This paper introduces volume springs that provide the volume effect to a surface model when it is deformed. The estimation of the properties of the model takes the real material properties into consideration, where each spring stiffness is derived based on the elasticity, rigidity and compressibility modulus. The proposed model can be adopted to simulate soft objects such as a deformable human breast,...
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