Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 02, 2018 - June 05, 2018
A method of contact detection to a rigid layer in a fingertip to improve grasping performance with three-layer structure finger composed of a rubber membrane, a fluid layer, and the rigid layer is proposed. The three-layer structured finger can delicately grasp fragile objects with the rubber membrane and the fluid layer (soft grasping) and provide large resistible force with the rigid layer (tough grasping). In order to perform tough grasp with the three-layer structured finger, contact detection to rigid layer is required. If contact with the rigid body layer can be detected, it is possible to choose soft grasp or tough grasp. Moreover, by displacing the finger after an object touches the rigid layer, the amount of deformation of the object can be estimated from it of the finger.
