NDLI: Tailoring the viscoelastic properties of soft pads for robotic limbs through purposely designed fluid filled structures

Content Provider	IEEE Xplore Digital Library
Author	Berselli, G. Piccinini, M. Vassura, G.
Copyright Year	2010
Description	Author affiliation: DIEM, Italy (Piccinini, M.; Vassura, G.) \|\| DIEM, Mechanical Eng. Dept., University of Bologna, Viale Risorgimento 2, 40136, Italy (Berselli, G.)
Abstract	The majority of soft pads for robotic limbs studied so far were made by visco-elastic polymeric solids whose behavior is significantly influenced by the rate of application of the external loads or displacements. In particular, contact interfaces which are intrinsically visco-elastic are found, for instance, in human fingers and feet or in various robotic devices covered by a compliant surface. An outstanding instance are anthropomorphic hands where time-dependent phenomena profoundly affects the stability and sustainability of the grasp. Alternatively to homogenous solid pads, this paper proposes the use of fluid filled soft structures with differentiated layer design [1] that is the adoption of a single solid material, dividing the overall thickness of the pad into a continuous skin layer coupled with an internal layer having communicating voids. The voids are then hermetically sealed and, in case, filled with fluid. Given the allowable pad thickness, the purpose is to tailor the pad properties to the specific application by 1) selecting a skin material characterized by proper tribological features, 2) designing an inner layer geometry so as to obtain a specific static compliance, 3) filling the pad with a viscous fluid chosen so as to modify time-dependent phenomena and increase damping effects. The proposed concept is validated by designing artificial pads whose viscoelastic properties are either similar or more pronounced when compared to those of the human fingertip.
Starting Page	759
Ending Page	764
File Size	1400277
Page Count	6
File Format	PDF
ISBN	9781424450381
ISSN	10504729
DOI	10.1109/ROBOT.2010.5509320
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Viscosity Elasticity Robots Humans Skin Polymers Solids Fingers Anthropomorphism Stability experimental analysis Robotic hands human fingers soft fingertip design
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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