Mechanics of Localized Slippage in Tactile Sensing: And Application to Soft Sensing Systems (Springer Tracts in Advanced Robotics (99))

Localized slippage occurs during any relative sliding of soft contacts, ranging from human fingertips to robotic fingertips. Although this phenomenon is dominant for a very short time prior to gross slippage, localized slippage is a crucial factor for any to-be-developed soft sensing system to respond to slippage __before__ it occurs. The content of this book addresses all aspects of localized slippage, including modeling and simulating it, as well as applying it to the construction of novel sensors with slip tactile perception. Front Matter....Pages 1-16 Introduction....Pages 1-8 Front Matter....Pages 9-9 Two Dimensional Beam Bundle Model of a Frictional Sliding Soft Fingertip....Pages 11-27 Three-Dimensional Beam Bundle Model of a Sliding Soft Fingertip....Pages 29-51 Modeling of a Sliding Human Fingertip....Pages 53-84 Front Matter....Pages 85-86 Tactile Sensing via Micro Force/Moment Sensor....Pages 87-112 Slip Perception via Soft Robotic Skin Made of Electroconductive Yarn....Pages 113-154 Slip Perception Using a Tactile Array Sensor....Pages 155-178 Concluding Remarks....Pages 179-182 Back Matter....Pages 183-222