Shi, G;
Shariati, A;
Eames, I;
Wurdemann, H;
(2022)
Modelling the compression of a soft ellipsoid fingertip.
Soft Matter
, 47
(18)
pp. 9076-9085.
10.1039/D2SM00763K.
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Abstract
A purely mechanical-driven haptic feedback system was developed for amputees by G. Shi et al., IEEE transaction on Haptics, 2020, 13, 204-210. The fingertip ellipsoid modulates the compression force and transmits it to the feedback actuator when the finger interacts with an object. In this paper, the haptic feedback system has been modelled using finite deformation theory. For the ellipsoid fingertip, the compression behaviour between two rigid, flat surfaces has been studied and can predict the force-indentation trend and deformed shape of the membrane with the contact area. For the feedback actuator, the model for the flat membrane is developed with elastic theory, in which the deformation resulting in contact area increase has been studied. The model has been validated with experimental results, which consists of the fingertip ellipsoid membrane being compressed by a rigid surface and the feedback actuator being pressurised. The results of force-indentation, pressure-indentation and the deformation of the membrane from ellipsoid modelling lay within the experimental data and fit the non-linear trend well. The results from modelling the feedback actuator have the same trend as the experimental data in the force-pressure relationship. The haptic feedback system is consistent as a functional tactile sensor after validation. We present the modelling and validation of the proposed model for the mechanical driven haptic feedback system.
| Type: | Article |
|---|---|
| Title: | Modelling the compression of a soft ellipsoid fingertip |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1039/D2SM00763K |
| Publisher version: | https://doi.org/10.1039/D2SM00763K |
| Language: | English |
| Additional information: | This article is licensed under a Creative Commons Attribution 3.0 Unported Licence (http://creativecommons.org/licenses/by/3.0/). |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Mechanical Engineering |
| URI: | https://discovery-pp.ucl.ac.uk/id/eprint/10158769 |
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