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| HAL: hal-00418519, version 1 |
| arXiv: 0909.3559 |
| DOI: 10.1007/s12369-008-0008-9 |
| Detailed view |  Export this paper |
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| International Journal of Social Robotics vol 1 29-40 |
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| Towards Humanlike Social Touch for Sociable Robotics and Prosthetics: Comparisons on the Compliance, Conformance and Hysteresis of Synthetic and Human Fingertip Skins |
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| John-John Cabibihan 1Stephane Pattofatto 2 |
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| (2008-10-28) |
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| The artificial hands for sociable robotics and prosthetics are expected to be touched by other people. Because the skin is the main interface during the contact, a need arises to duplicate humanlike characteristics for artificial skins for safety and social acceptance. Towards the goal of replicating humanlike social touch, this paper compares the skin compliance, conformance and hysteresis of typical robotic and prosthetic skin materials, such as silicone and polyurethane, with the published biomechanical behaviour of the human fingertip. The objective was achieved through materials characterization, finite element (FE) modeling and validation experiments. Our initial attempt showed that the selected types of silicone and polyurethane materials did not exhibit the same qualities as the human fingertip skin. However, the methodologies described herein can be used to evaluate other materials, their possible combinations or other fingertip design configurations |
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| 1: | Advanced Robotics Technologies and Systems Laboratory |
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Scuola Superiore Sant'Anna |
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| 2: | Laboratoire de Mécanique et Technologie (LMT) |
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CNRS : UMR8535 – Université Pierre et Marie Curie [UPMC] - Paris VI – École normale supérieure de Cachan - ENS Cachan |
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| Subject | : | Engineering Sciences/Mechanics/Biomechanics Physics/Mechanics/Biomechanics Engineering Sciences/Mechanics/Mechanics of materials Physics/Mechanics/Mechanics of materials |
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| Bio-robotics and biomedical robotics – Prosthetics – Artificial Skin – Finite Element Method – Skin Compliance – Conformance – Hysteresis |
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| hal-00418519, version 1 | |
| http://hal.archives-ouvertes.fr/hal-00418519 | |
| oai:hal.archives-ouvertes.fr:hal-00418519 | |
| From: Stephane Pattofatto | |
| Submitted on: Friday, 18 September 2009 22:55:46 | |
| Updated on: Saturday, 19 September 2009 07:35:46 | |
