Skip to main content
SpringerLink
Log in

Modeling and analysis of robotic dual soft-fingered writing

  • Published:
International Journal of Precision Engineering and Manufacturing Aims and scope Submit manuscript

Abstract

We describe an effective model for robotic writing using dual fingers with soft tips and analyze the model’s dynamic performance. Simulation studies showed that the three deformational terms modulated by the soft tips caused some disturbances when writing a character. Such disturbances were due to the deformation property of the soft tips and depended on the driving mechanism of the finger joints. Effective considerations for reducing such adverse deformational effects are presented.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. Li, Z., Hsu, P. and Sastry, S., “Grasping and coordinated manipulation by a multi-fingered robot hand,” Int. Jour. of Robotics Research, Vol. 8, No. 4, pp. 33–50, 1989.

    Article  Google Scholar 

  2. Cole, A. B. A., Hauser, J. E. and Sastry, S. S., “Kinematics and control of multifingered hands with rolling contact,” IEEE Trans. on Automatic Control, Vol. 34, No. 4, pp. 398–404, 1989.

    Article  MATH  MathSciNet  Google Scholar 

  3. Bicchi, A., “Hands for dexterous manipulation and robust grasping: a difficult road toward simplicity,” IEEE Trans. on Automatic Control, Vol. 16, No. 6, pp. 652–662, 2000.

    Google Scholar 

  4. Cutkosky, M. R. and Kao, I., “Computing and controlling the compliance of a robotic hand,” IEEE Trans. on Robotics and Automation, Vol. 5, No. 2, pp. 151–165, 1989.

    Article  Google Scholar 

  5. Kim, B.-H., Yi, B.-J., Oh, S.-R. and Suh, I. H., “Independent finger and independent joint-based compliance control of multifingered robot hands,” IEEE Trans. on Robotics and Automation, Vol. 19, No. 2, pp. 185–199, 2003.

    Article  MATH  Google Scholar 

  6. Cutkosky, M. R., Jordan, J. M. and Wright, P. K., “Skin materials for robotic fingers,” Proc. of IEEE Int. Conf. on Robotics and Automation, Vol. 4, pp. 1649–1654, 1987.

    Google Scholar 

  7. Shimoga, K. B. and Goldenberg, A. A., “Soft materials for robotic fingers,” Proc. of IEEE Int. Conf. on Robotics and Automation, Vol. 2, pp. 1300–1305, 1992.

    Article  Google Scholar 

  8. Shimoga, K. B. and Goldenberg, A. A., “Soft robotic fingertips part II: modeling and impedance regulation,” Int. Jour. of Robotics Research, Vol. 15, No. 4, pp. 335–350, 1996.

    Article  Google Scholar 

  9. Xydas, N. and Kao, I., “Modeling of contact mechanics and friction limit surfaces for soft fingers in robotics, with experimental results,” Int. Jour. of Robotics Research, Vol. 18, No. 8, pp. 941–950, 1999.

    Article  Google Scholar 

  10. Xydas, N., Bhagavat, M. and Kao, I., “Study of soft-finger contact mechanics using finite elements analysis and experiments,” Proc. of IEEE Int. Conf. on Robotics and Automation, Vol. 3, pp. 2179–2184, 2000.

    Google Scholar 

  11. Park, K.-H., Kim, B.-H. and Hirai, S., “Development of a softfingertip and its modeling based on force distribution,” Proc. of IEEE Int. Conf. on Robotics and Automation, Vol. 3, pp. 3169–3174, 2003.

    Google Scholar 

  12. Maeno, T., Kawai, T. and Kobayashi, K., “Analysis and design of a tactile sensor detecting strain distribution inside an elastic finger,” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Vol. 3, pp. 1658–1663, 1998.

    Google Scholar 

  13. Maeno, T., Hiromitsu, S. and Kawai, T., “Control of grasping force control by detecting stick/slip distribution at the curved surface of an elastic finger,” Proc. of IEEE Int. Conf. on Robotics and Automation, Vol. 4, pp. 3895–3900, 2000.

    Google Scholar 

  14. Ferrier, N. J. and Brockett, R. W., “Reconstructing the shape of a deformable membrane from image data,” Int. Jour. of Robotics Research, Vol. 19, No. 9, pp. 795–816, 2000.

    Article  Google Scholar 

  15. Chang, D. C. and Cutkosky, M. R., “Rolling with deformable fingertips,” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Vol. 2, pp. 194–199, 1995.

    Google Scholar 

  16. Shimoga, K. B., “Robot grasp synthesis algorithms: a survey,” Int. Jour. of Robotics Research, Vol. 15, No. 3, pp. 230–266, 1996.

    Article  Google Scholar 

  17. Arimoto, S., Nguyen, P. A. N., Han, H.-Y. and Doulgeri, Z., “Dynamics and control of a set of dual fingers with soft tips,” Robotica, Vol. 18, pp. 71–80, 2000.

    Article  Google Scholar 

  18. Doulgeri, Z., Simeonids, A. and Arimoto, S., “A position/force control for a soft tip robot finger under kinematic uncertainties,” Proc. of IEEE Int. Conf. on Robotics and Automation, Vol. 4, pp. 3867–3872, 2000.

    Google Scholar 

  19. Bayazit, O. B., Lien, J.-M. and Amato, N. M., “Probabilistic roadmap motion planning for deformable objects,” Proc. of IEEE Int. Conf. on Robotics and Automation, Vol. 2, pp. 2126–2133, 2002.

    Google Scholar 

  20. Hirai, K., Hirose, M., Haikawa, Y. and Takenaka, T., “The development of Honda humanoid robot,” Proc. of IEEE Int. Conf. on Robotics and Automation, Vol. 2, pp. 1321–1326, 1998.

    Google Scholar 

  21. Inoue, K., Nishihama, Y., Arai, T. and Mae, Y., “Mobile manipulation of humanoid robots-body and leg control for dual arm manipulation,” Proc. of IEEE Int. Conf. on Robotics and Automation, Vol. 3, pp. 2259–2264, 2002.

    Google Scholar 

  22. Potkonjak, V., Tzafestas, S., Kostic, D., Djordjevic, G. and Rasic, M., “The handwriting problem,” IEEE Robotics & Automation Magazine, Vol. 10, No. 1, pp. 35–46, 2003.

    Article  Google Scholar 

  23. Kim, B.-H. and Yeo, H.-J., “Character writing using multifingered hands: grasp modeling and compliance analysis,” Jour. of Control, Automation and Systems Engineering, Vol. 7, No. 11, pp. 927–932, 2001.

    Google Scholar 

  24. Freeman, R. A. and Tesar, D., “Dynamic modeling of serial and parallel mechanisms/robotics systems, Part I-methodology, Part II-applications,” Proc. 20th ASME Biennial Mechanisms Conf. Orlando, FL, Trends and Development in Mechanisms, Machines, and Robotics, Vol. 15-3, pp. 7–27, 1988.

    Google Scholar 

  25. Yi, B.-J., Oh, S.-R. and Suh, I. H., “A five-bar finger mechanism involving redundant actuators: analysis and its applications,” IEEE Trans. on Robotics and Automation, Vol. 15, No. 6, pp. 1001–1010, 1999.

    Article  Google Scholar 

  26. Kim, B.-H., “Motion analysis of soft-fingertip manipulation tasks,” Int. Jour. of Control, Automation and Systems, Vol. 2, No. 21, pp. 228–237, 2004.

    Google Scholar 

  27. Marhefka, D. and Orin, D. E., “A compliant contact model with nonlinear damping for simulation of robotic systems,” IEEE Trans. on System, Man, and Cybernetics, Part A: Systems and Humans, Vol. 29, No. 6, pp. 566–572, 1999.

    Article  Google Scholar 

  28. Akella, P. N. and Cutkosky, M. R., “Manipulating with soft fingers: modeling contacts and dynamics,” Proc. of IEEE Int. Conf. on Robotics and Automation, Vol. 2, pp. 764–769, 1989.

    Google Scholar 

  29. Akella, P. N. and Cutkosky, M. R., “Contact transition control with semiactive soft fingertips,” IEEE Trans. on Robotics and Automation, Vol. 11, No. 6, pp. 859–867, 1995.

    Article  Google Scholar 

  30. Nguyen, P. A. N. and Arimoto, S., “Dexterous manipulation of an object by means of multi-DOF robotic fingers with soft tips,” Jour. of Robotic Systems, Vol. 19, No. 7, pp. 349–362, 2002.

    Article  MATH  Google Scholar 

  31. Jia, Y. B. and Erdmann, M., “Pose and motion from contact,” Int. Jour. of Robotics Research, Vol. 18, No. 5, pp. 466–490, 1999.

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Bio-Mimetic Control & Robotics Lab., Div. of Electrical and Mechatronics Eng., Kyungsung University, Daeyeon 3-Dong, Nam-Gu, Busan, Korea, 608-736

    Byoung-Ho Kim

Authors
  1. Byoung-Ho Kim
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Byoung-Ho Kim.

Rights and permissions

Reprints and permissions

About this article

Cite this article

Kim, BH. Modeling and analysis of robotic dual soft-fingered writing. Int. J. Precis. Eng. Manuf. 10, 17–23 (2009). https://doi.org/10.1007/s12541-009-0022-3

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s12541-009-0022-3

Keywords

Search

Navigation