半球型柔軟指の指先力減衰特性

抄録

This paper proposes a transfer function model for a hemispherical soft fingertip which is usually used for object grasping and manipulation by means of robotic hands. We estimate two kinds of transfer function relating to the soft fingertip deformation and elastic forces induced by repetitive sinusoidal compression to the normal direction. Finally, this study exhibits reasonable transfer function models of the soft fingertip.