Modelling and identification of soft pads for robotic hands

@article{Biagiotti2005ModellingAI,
  title={Modelling and identification of soft pads for robotic hands},
  author={Luigi Biagiotti and Claudio Melchiorri and Paolo Tiezzi and Gabriele Vassura},
  journal={2005 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2005},
  pages={2786-2791}
}
In this work the static and dynamic characterization of viscoelastic pads for robotic hands is performed. A quasi-linear model, developed 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 of this model have been found for two different materials (a polyurethane gel and a silicon rubber… CONTINUE READING

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