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Experimental Investigation of Effect of Fingertip Stiffness on Resistible Force in Grasping
http://hdl.handle.net/2297/46077
http://hdl.handle.net/2297/460778a0f8562-d8d3-433f-8956-2a07b49006e0
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
TE-PR-WATANABE-T-4334.pdf (1.6 MB)
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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 Resistible Force in Grasping | |||||
| 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 |
Fujihira, Yoshinori
× Fujihira, Yoshinori× Harada, Kensuke× Tsuji, Tokuo× Watanabe, Tetsuyou |
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| 書誌情報 |
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 巻 2015-June, p. 4334-4340, 発行日 2015-06-29 |
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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.2015.7139797 | |||||
| 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 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 [11], cylindrical fingertips with flat surfaces were used in this study so that the contact area would remain the same when there was no tangential/shearing force. This made it possible to see the effect of fingertip stiffness more clearly. We also investigated the effect of curvature of the contact surface, which was not investigated in depth in [11]. The main findings are as follows. 1) Harder fingertips produce larger resistible forces, irrespective of the shape of the contact surface (flat or curved). 2) For harder fingertips, the maximum resistible force depends largely on the shape of the contact surface, while for softer fingertips, the shape has little effect. 3) For softer fingertips, the magnitude of the resistible force changes little even when the normal force increases. © 2015 IEEE. | |||||
| 内容記述 | ||||||
| 内容記述タイプ | Other | |||||
| 内容記述 | 2015 IEEE International Conference on Robotics and Automation, ICRA 2015; Washington State Convention CenterSeattle; United States; 26 May 2015 through 30 May 2015; Category numberCFP15RAA-ART; Code 113196 | |||||
| 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 | |||||
| シリーズ | ||||||
| 関連名称 | Article number 7139797 | |||||
