Analysis of Soft Contact in Force Sensing and Elastic Jumping
Takahiro Matsuno and Shinichi Hirai
Department of Robotics, Ritsumeikan University
1-1-1 Noji-higashi, Kusatsu, Shiga 525-8577, Japan
This study focuses on the mechanical contact between a soft body and the environment, referred to as soft contact. First, the soft contact between an object and a soft capacitive sensor was analyzed. We derived the stress-strain relationship of the dielectric in a soft capacitive sensor, where the sensor output depended on the force; however, it was independent of the contact area. Second, the soft contact between an elastic jumping robot and the environment was analyzed. We derived the local optimal shapes for higher jumping.
-  T. Matsuno and S. Hirai, “Reducing the Influence of the Contact Area on a Soft Capacitive Force Sensor,” IEEE Robotics and Automation Letters, Vol.6, No.3, pp. 5824-5831, 2021.
-  T. Matsuno and S. Hirai, “Optimization of the Initial Deformed Shape of a Circular Elastic Jumping Robot,” Proc. of the 2020 3rd IEEE Int. Conf. on Soft Robotics (RoboSoft), pp. 58-63, 2020.
-  T. Matsuno, T. Katsuma, Z. Wang, and S. Hirai, “Novel Quick Return Mechanism and Dish Shape Deformable Body Structure for Circular Jumping Robot,” Proc. of the 2020 IEEE Int. Conf. on Real-Time Computing and Robotics (RCAR), pp. 210-215, 2020.
-  Z. Wang, H. Furuta, S. Hirai, and S. Kawamura, “A Scooping-Binding Robotic Gripper for Handling Various Food Products,” Frontiers in Robotics and AI, Vol.8, 64805, 2021.
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