柔軟指を有する1 自由度回転関節指の接触モデル

摘要

In this paper, We will show you an easy model while rotational contact takes place between an object anda soft fingertip. First we will express a concept of prismatic and rotational contact between a soft fingertip and object.Second we derive a easy and reasonable contact model in condition that a rotationl finger contacts with an object in detail.Finally we denote a simulation result when the angle of the finger takes 9[deg] through 20[deg] at interval of 1[deg]. Thissimulation result indicate that we can obtain a pressure distribution from a soft fingertip model we derived in this paper,and we conclude that the pressure distribution depends on a history of the deformation of the soft fingertip.