Three-dimensional modeling and simulation of the sliding motion of a soft fingertip with friction, focusing on stick-slip transition

Abstract

We have proposed a dynamic model to investigate the sliding motion of a 3-dimensional soft fingertip on a plane with friction. The fingertip is comprised virtually of a finite number of elastic compressible and bendable cantilevers whose free ends act as infinitesimal contact points. The contact surface is afterward meshed using finite element method based… (More)
DOI: 10.1109/ICRA.2011.5979901

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