Mechanism of contact area variable surface and contact sensing for manipulation including slip

Abstract

Soft robot hands can stably grip many kinds of objects. However, it is difficult to manipulation requiring slip. Therefore, in a previous study, we developed friction change mechanism utilizing the transformation of contact area by structural deformation. We call this mechanism contact area variable surface (CAVS). In this paper, we analyze the factors that CAVS functions by modeling, and consider how to use it practically. In order to use CAVS in manipulation, we observe the deformation inside the CAVS with a camera to judge whether it is line contact or surface contact. Through the operation of grasping and placing an object in an accurate position, we verify the validity of CAVS.