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Experimental investigation of effect of fingertip stiffness on friction while grasping an object
http://hdl.handle.net/2297/46066
http://hdl.handle.net/2297/460667a249b2b-b503-4580-9f4f-a6cfc8bf56cb
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
TE-PR-WATANABE-T-889.pdf (403.6 kB)
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| Item type | 学術雑誌論文 / Journal Article(1) | |||||
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| 公開日 | 2017-10-03 | |||||
| タイトル | ||||||
| タイトル | Experimental investigation of effect of fingertip stiffness on friction while grasping an object | |||||
| 言語 | ||||||
| 言語 | eng | |||||
| 資源タイプ | ||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||
| 資源タイプ | journal article | |||||
| 著者 |
Watanabe, Tetsuyou
× Watanabe, Tetsuyou× Fujihira, Yoshinori |
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| 書誌情報 |
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 号 Article number 6906959, p. 889-894, 発行日 2014-09-22 |
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| ISSN | ||||||
| 収録物識別子タイプ | ISSN | |||||
| 収録物識別子 | 1050-4729 | |||||
| DOI | ||||||
| 関連タイプ | isVersionOf | |||||
| 識別子タイプ | DOI | |||||
| 関連識別子 | 10.1109/ICRA.2014.6906959 | |||||
| 出版者 | ||||||
| 出版者 | Institute of Electrical and Electronics Engineers Inc. | |||||
| 抄録 | ||||||
| 内容記述タイプ | Abstract | |||||
| 内容記述 | In this study, we experimentally investigated the effect of robot fingertip stiffness on friction during grasping of an object. To make robots more human-friendly, robotic hands with soft surfaces have been developed. A soft fingertip, i.e., one with low stiffness, is considered desirable because it produces high friction. However, in our experiments, we were able to obtain high friction from a stiff fingertip under a certain condition. We initially investigated the maximum resistible force when solid objects with different angled surfaces were grasped by spherical fingertips of different stiffness. When the contact surface was flat, a stiffer fingertip produced larger frictional force. When the contact surface was highly convex, the maximum frictional force increased with decreasing fingertip stiffness. Secondly, we examined the relationships among the contact area, the load, and the maximum frictional force. We reformulated the relationship between the load and the maximum frictional force and, together with our experimental results, used it to determine the factor that increased the maximum frictional force. © 2014 IEEE. | |||||
| 内容記述 | ||||||
| 内容記述タイプ | Other | |||||
| 内容記述 | 2014 IEEE International Conference on Robotics and Automation, ICRA 2014; Hong Kong Convention and Exhibition CenterHong Kong; China; 31 May 2014 through 7 June 2014; Category numberCFP14RAA-ART; Code 107395 | |||||
| 著者版フラグ | ||||||
| 出版タイプ | AM | |||||
| 出版タイプResource | http://purl.org/coar/version/c_ab4af688f83e57aa | |||||
