A Study on Contact Forces of Soft Fingers

Abstract

In fine finger operations, we cannot neglect the deformation of the finger surfaces. The position and the direction of the force affecting the finger surfaces should be researched if the deformation of the finger surface is large like as those of the operations of small objects and of objects that have some line edged corners. This study measured the force acting between soft rubber and a bent aluminum plate and qualitatively discussed the friction zone, a fanwise zone where the line of acting force can be located. It a clarified the characteristics of large deformation: (i) the nominal coefficient of friction becomes large on the shake of a plunge effect and (ii) the friction zone departs from the line-edged corner. © 1990, The Japan Society of Mechanical Engineers. All rights reserved.