首页|Localized displacement phenomenon of a sliding soft fingertip under different grasp force for slip prediction on prosthetic hand
Localized displacement phenomenon of a sliding soft fingertip under different grasp force for slip prediction on prosthetic hand
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NSTL
Elsevier
Slip perception based on localized displacement phenomenon (LDP) during incipient slip is a crucial factor in prosthetic/robotic stable manipulation of an object. However, in current LDP-based slip predicting methods, the center point on the contact surface of a fingertip is roughly considered as the latest slipping point which leads to excessive grasping force in some situations. Here, we present a finite element (FE) model of a sliding soft fingertip verified by experiments to investigate the localized displacement and force changing of nodes on the contact surface under different initial grasping forces. Results show that the distance between the latest slipping point and the center point changes linearly with the applied initial normal force, with an R-square of 0.94. Based on these results two slip prediction methods which can be conducted in an unstructured environment with random initial normal grasping force were proposed.
Slip predictionLocalized displacement phenomenonFinite element modelIncipientSliding soft fingertipTACTILE SENSOR ARRAY
NSTL
Elsevier
