Experimental Investigation of Mechanics in Soft-Fingered Grasping and Manipulation

  • Takaniro Inoue
  • Shinichi Hirai
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 39)


This paper describes mechanical modeling of soft-fingered grasping and manipulation. Here, we used a simple hand consisting of a pair of 1-DOF rotational fingers with hemispherical soft fingertips to investigate the mechanics of soft-fingered grasping and manipulation. Based on the observations of soft-fingered grasping and manipulation, we propose a parallel distributed model with tangential deformation of hemispherical soft fingertips. We experimentally verified our proposed parallel distributed model. We then show that simulation results based on the parallel distributed model agree with the observations well.


Contact Force Posture Control Maximum Displacement Elastic Force Elastic Element 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2008

Authors and Affiliations

  • Takaniro Inoue
    • 1
  • Shinichi Hirai
    • 1
  1. 1.Dept. RoboticsRitsumeikan Univ.KusatsuJapan

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