Two Dimensional Beam Bundle Model of a Frictional Sliding Soft Fingertip

  • Anh-Van Ho
  • Shinichi Hirai
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 99)


We propose a dynamic model of a soft fingertip to investigate its sliding motion on a plane with friction. The fingertip is comprised virtually of a finite number of elastic compressible and bendable beams whose free ends act as contact points. Moreover, we utilize virtual linkage spring-damper elements between the contact points to represent interactions between neighboring beams on the contact surface. By introducing Coulomb’s law into each contact point, we are able to capture the frictional characteristic during sliding motions of the fingertip, especially stick-slip motions. During analysis, we have found a phenomenon called Localized Displacement which takes an important role in assessing slip perception of soft object. This phenomenon is then verified by our fine experiential setup.


Contact Line Frictional Force Contact Depth Linkage Element Stick Phase 
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Copyright information

© Springer International Publishing Switzerland 2014

Authors and Affiliations

  1. 1.Department of Robotics Ritsumeikan UniversityShigaJapan

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