Abstract
The paper presents dynamic unfolding of fabrics by pinching slip motion. By keeping the textile in contact with robot fingertips, the dynamic unfolding is done successfully in horizontal direction. The success rate depends on fingertips shape. The grasping force is important for dynamic unfolding of textile by pinching slip motion. We simulate the contact force between fingertips and the fabric. Here, we assume that the contact force is described by contact between fluid and an obstacle in duct. We confirm validity of the experimental results using computational fluid dynamics.
