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Sensors 2017, 17(6), 1190; doi:10.3390/s17061190

Sensors and Actuators on Determining Parameters for Being Considered in Selection of Elastomers for Biomimetic Hands

1
Department Mechanical Engineering, Mechatronics and Robotics, the “Gheorghe Asachi” Technical University of Iasi, Bulevardul Profesor Dimitrie Mangeron 67, 700050 Iași, Romania
2
Mechanical Engineering Department, MEtRICs Research Center, University of Minho, Campus of Azurém, 4800-058 Guimarães, Portugal
*
Author to whom correspondence should be addressed.
Academic Editor: Vittorio M. N. Passaro
Received: 20 April 2017 / Revised: 18 May 2017 / Accepted: 19 May 2017 / Published: 23 May 2017
(This article belongs to the Section Physical Sensors)
View Full-Text   |   Download PDF [3476 KB, uploaded 23 May 2017]   |  

Abstract

In this paper, the authors present a new methodology to study the viscoelastic behaviour of the human finger. The methodology is based on experimental research consisting of a finger’s indentation with a small steel cylindrical object for various indentation speeds. The tests were realized on a CETR UMT-2 Tribometer for indentation speed between 0.02 mm/s and 4 mm/s with a normal load of up to 22 N. Using the force–deformation diagrams recorded at the smallest indentation speed determined the elastic modulus of the human finger according to an adapted Hertzian model. By considering the increasing of the indentation force with indentation speed, the viscous component of the human finger was evidenced. The power dissipated in the finger tissue as a result of the prehension process has been obtained as a function of indentation speed and indentation depth. In addition, a general equation for the prehension force as a function of indentation speed and indentation depth has been obtained. The results of this study will be relevant for selection of the specific elastomers used in biomimetic hands. View Full-Text
Keywords: human finger; Young’s modulus; indentation speed; viscoelastic behavior; biomimetic hand; dissipated power human finger; Young’s modulus; indentation speed; viscoelastic behavior; biomimetic hand; dissipated power
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MDPI and ACS Style

Cârlescu, V.; Olaru, D.N.; Prisăcaru, G.; Oprişan, C.; Machado, J. Sensors and Actuators on Determining Parameters for Being Considered in Selection of Elastomers for Biomimetic Hands. Sensors 2017, 17, 1190.

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