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We have investigated the deformation of a soft fingertip when it slides. This process was first simulated using the non-linear Finite Element Analysis (FEA) method. Based on the results of this simulation, we designed experiments to observe the sliding and object grasping of a soft fingertip, in which a 3-DOF (degree of freedom) micro force/moment sensor was embedded. With this sensor, forces and...
We have investigated the deformation of a soft fingertip when it slides. This process was first simulated using ANSYS software with non-linear Finite Element Analysis (FEA). Based on the results of this simulation, we designed experiments to observe the sliding and object grasping of a soft fingertip, in which, a 4-DOF (degree of freedom) micro force/moment sensor was embedded inside the soft fingertip...
Controlling grip force in a prosthetic or robotic hand requires detailed sensory feedback information about microslips between the artificial fingertips and the object. In the biological hand this is accomplished with neural transducers capable of measuring micro-vibrations in the skin due to sliding friction. For prosthetic tactile sensors, emulating these biological transducers is a difficult challenge...
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