Page 128 - Human Inspired Dexterity in Robotic Manipulation

126 Human Inspired Dexterity in Robotic Manipulation

Pick up
Grasp Pick up Grasp
(A) (B)

Grasp Pick up Grasp Pick up
(C) (D)

Grasp Pick up
Grasp Pick up
(E) (F)
Fig. 7.14 Grasping test results of a gripper with fluid fingertips. (A) Grasping potato
chip. (B) Grasping. (C) Grasping raw egg. (D) Grasping small tomato. (E) Grasping
paper cup with water. (F) Grasping a bottle of juice weighing at 535 g.

by the pressure sensor shown in Fig. 7.2A, can be used as basis for anticipat-
ing the occurrence of fracture. In this section, a methodology for fracture
anticipation [1,3] is presented.

7.3.1 Basic Concept for Fracture Avoidance and Applicable
Objects

Following the experimental setup shown in Fig. 7.15 and utilizing soft
(Kinugoshi) tofu, which is a typical example of a fragile and soft object in
a human environment, a compression test was conducted to observe the
behavior of tofu. An indenter was attached to an automatic positioning
stage and the tofu (Topvalue, Silken tofu, size: 25 25 30 mm) was
pushed against a duralumin plate at a low speed of 1.0 mm/s to minimize
the influence of speed.