Download Mechanics of Localized Slippage in Tactile Sensing: And by Anh-Van Ho, Shinichi Hirai PDF

By Anh-Van Ho, Shinichi Hirai

Localized slippage happens in the course of any relative sliding of sentimental contacts, starting from human fingertips to robot fingertips. even supposing this phenomenon is dominant for a truly short while sooner than gross slippage, localized slippage is an important issue for any to-be-developed delicate sensing approach to answer slippage before it happens. The content material of this ebook addresses all features of localized slippage, together with modeling and simulating it, in addition to using it to the development of novel sensors with slip tactile perception.

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Extra resources for Mechanics of Localized Slippage in Tactile Sensing: And Application to Soft Sensing Systems

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5 3 0 1 2 3 4 Displacement of the FT [m] 5 6 x 10−3 (b) Hysteresis of friction force Fig. 6 Responses of friction force of simulation trials on the nodes of the contact surface. It is easy to realize two different stages of friction force during this phase. In the stick stage, the friction force keeps increasing; while it is unchanged in the slide phase. There is no sudden change between the two stages; it occurs smoothly. This phenomenon occurs only with ductile material, like that of a soft fingertip; but it is unrealistic for solid objects when the body accelerates, even although the external forces on the body are less than the threshold of frictional force [6].

Especially, at Vr =0, there are only some tiny sudden disturbances of friction force have been recorded, and the transitions between phases happened quite smoothly. This will allow us to use this model as a friction compensation or friction observer in position control of a sliding soft fingertip. By implementing motion of slide of the fingertip with various conditions such as changes of contact depth, cycle time, and titling angle, we acknowledge that the friction force does depend remarkably on these conditions, and consideration must be taken into account during controlling.

28) where ⎡ ⎤ 110 Iλ = ⎣ 1 1 0 ⎦ , 000 ⎡ ⎤ 200 Iμ = ⎣ 0 2 0 ⎦ . 29) To derive formations for viscoelastic material, let us recall the stress-strain relationship of a viscoelastic object by an operator: d . 30) dt From the above observation, replacing Eq. 28 by two viscoelastic operators will yield 2-D isotropic viscoelastic deformation as follows: E+c λ = λela + λvis d , dt μ = μela + μvis d . 31) Two constants λela and μela specify the elasticity of the object while λvis and d μvis describe its viscosity.

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