柔らかい指先の2次元接触モデルと分布圧センサによる計測値との比較

抄録

In this paper, we will propose a simple modeling method of a soft fingertip based on geometrical analysis. First, we introduce a virtual spring system of the soft fingertip with two-dimensional contact between a planar object and fingertip. Second, we describe the equation of pressure distribution from hydrostatic equation, and validate this theory by simulating the equation and comparing the equation and the measurements of tactile sensor, and the soft fingertip. Finally, we denote how to obtain amplitude θ₀ and maximum displacement d₀ from the tactile sensor.