NDLI: Nonlinear Modeling and Experimental Identification of Hemispherical Soft Pads for Robotic Manipulators

Content Provider	The American Society of Mechanical Engineers (ASME) Digital Collection
Author	Tiezzi, Paolo Vassura, Gabriele Biagiotti, Luigi Melchiorri, Claudio
Copyright Year	2005
Abstract	In this work the dynamic contact of hemispherical indenter covered by a thick viscoelastic layer and pressed against a flat rigid surface is modelled. The goal is to investigate the dynamic behavior of robotic fingertips composed by an inner rigid structure covered by a soft layer, mimicking the human biological model. A quasi-linear model, frequently used to describe the behavior of soft and pulpy biological tissues, is adopted in order to achieve a compromise between the simplicity of classical linear models and the difficulty of nonlinear approaches. Two different materials (a polyurethane gel and a silicon rubber) have been experimentally tested in order to find the parameters of the model and to validate it. Finally, the advantage of the use of digital filters method in identification process is exploited, so that the identification becomes suitable for online process.
Sponsorship	Design Engineering Division and Computers and Information in Engineering Division
Starting Page	363
Ending Page	372
Page Count	10
File Format	PDF
ISBN	0791847381
DOI	10.1115/DETC2005-85659
e-ISBN	0791837661
Volume Number	Volume 1: 20th Biennial Conference on Mechanical Vibration and Noise, Parts A, B, and C
Conference Proceedings	ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
Language	English
Publisher Date	2005-09-24
Publisher Place	Long Beach, California, USA
Access Restriction	Subscribed
Subject Keyword	Filters Biological tissues Urethane elastomers Manipulators Silicon Rubber Modeling Robotics
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in