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Biagiotti L , Tiezzi P., Vassura G., Melchiorri C.
"Modelling and Identification of Soft Pads for Robotic Hands"
 
Type Conference
Author(s) Biagiotti L , Tiezzi P., Vassura G., Melchiorri C.
Title Modelling and Identification of Soft Pads for Robotic Hands
Editor International Conference on Intelligent Robots and Systems, IROS '05
Keywords Robotic hand, Soft pads, Quasi-linear model, Viscoelasticity.
Abstract
In this work the static and dynamic characterization of viscoelastic pads for a robotic hand is performed. A quasi-linear model, frequently adopted to describe the behavior of human hand pads and, more generally, of biological tissues, is adopted in order to overcome the problems tied to classical (linear) models, often used in the robotic field. Through experimental tests, the values of the parameters, which determine this model, have been found for two different materials (a polyurethane gel and a silicon rubber) which show a behavior similar to that of human pads and seems very suitable for robotic applications. Finally, the model has been extended with the use of digital filters, making the identification process very straightforward.
Document 2f66.Document.pdf (369278 bytes)
Year 2005


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