Study on hemispherical soft-fingered handling for fine manipulation by minimum D.O.F. robotic hand

This paper provides that an elastic force and an elastic potential energy due to the deformation of soft fingers, which are previously derived, can be calculated into straightforward equations in an analytical way. These formulae lead to the fact that the potential energy of a soft fingertip is a function of two variables, and has a local minimum through… CONTINUE READING