Development of Contact Area Variable Surface for Manipulation Requiring Sliding

被引：0

作者：

Nojiri, Seita ^{[1
]}

Mizushima, Kaori ^{[1
]}

Suzuki, Yosuke ^{[2
]}

Tsuji, Tokuo ^{[2
]}

Watanabe, Tetsuyou ^{[2
]}

机构：

[1] Kanazawa Univ, Graduated Sch Nat Sci & Technol, Kanazawa, Ishikawa, Japan

[2] Kanazawa Univ, Inst Sci & Engn, Fac Frontier Engn, Kakuma Machi, Kanazawa, Ishikawa 9201192, Japan

来源：

2019 2ND IEEE INTERNATIONAL CONFERENCE ON SOFT ROBOTICS (ROBOSOFT 2019) | 2019年

关键词：

FRICTION; HAND;

D O I：

10.1109/robosoft.2019.8722754

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

In this research, we developed a friction variable surface for robots to realize manipulation requiring slip by a robotic hand with soft bodies. The soft robot hands can stably grip many types of objects owing to their high elasticity, causing a large friction force. However, the soft robotic hands cannot manipulate an object easily because the large contact area and frictional force inhibits motion. Sliding is required for manipulation. Hence, we herein present a novel friction variable surface utilizing contact area transition by structural deformation. The surface is termed a contact area variable surface (CAVS). The friction change can be activated passively, and the CAVS can create a soft surface, thereby maintaining the benefit of soft robotic hands. The experimental investigation indicated the validity of the proposed mechanism.

引用

页码：131 / 136

页数：6

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