Measurement of Contact Force and Contact Pressure Distribution Applied by Passively Deformable Soft Finger

Aoi Makino, Yasutaka Nakashima, Motoji Yamamoto

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Stable grasping for soft food objects, such as tofu, by a conventional gripper without any damages is very difficult, because such objects have an indeterminate form and are extremely fragile. For soft and fragile objects grasping, this paper proposes a passively deformable soft finger that utilizes an internal air pressure control system with an air pump. The finger has a soft bag component that has air inside. The soft bag deforms its shape according to the shape of the object being held. The internal air pressure is controlled when the finger is holding an object so as to keep the air pressure at a constant value. This leads to a wrapping grip that can increase the contact area with the object, which lowers the contact pressure on the object. In this paper, the design of the fingertip and the validation for the fragile object grasping are shown at the beginning, then the contact force and the contact pressure distribution applied by the fingertip are experimentally investigated in order to estimate the gripping force and the load on the object.

Original languageEnglish
Title of host publicationProceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages105-108
Number of pages4
ISBN (Electronic)9781728166674
DOIs
Publication statusPublished - Jan 2020
Event2020 IEEE/SICE International Symposium on System Integration, SII 2020 - Honolulu, United States
Duration: Jan 12 2020Jan 15 2020

Publication series

NameProceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020

Conference

Conference2020 IEEE/SICE International Symposium on System Integration, SII 2020
CountryUnited States
CityHonolulu
Period1/12/201/15/20

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Computer Science Applications
  • Biomedical Engineering
  • Control and Systems Engineering
  • Safety, Risk, Reliability and Quality
  • Control and Optimization
  • Instrumentation

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  • Cite this

    Makino, A., Nakashima, Y., & Yamamoto, M. (2020). Measurement of Contact Force and Contact Pressure Distribution Applied by Passively Deformable Soft Finger. In Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020 (pp. 105-108). [9026300] (Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SII46433.2020.9026300