Open AccessAnalysis of Soft Contact in Force Sensing and Elastic Jumping
Author(s) -
Takahiro Matsuno,
Shinichi Hirai
Publication year - 2022
Publication title -
journal of robotics and mechatronics
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.257
H-Index - 19
eISSN - 1883-8049
pISSN - 0915-3942
DOI - 10.20965/jrm.2022.p0285
Subject(s) - capacitive sensing , jumping , contact force , soft sensor , materials science , soft landing , contact area , contact mechanics , acoustics , mechanical engineering , structural engineering , computer science , composite material , engineering , electrical engineering , physics , classical mechanics , macroeconomics , process (computing) , finite element method , economics , operating system , physiology , biology
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.