Experimental study of creep response of viscoelastic contact interface under force control

Chia-Hung Tsai, Imin Kao, Akihide Shibata, Kayo Yoshimoto, Mitsuru Higashimori, Makoto Kaneko

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

5 Scopus citations

Abstract

Viscoelastic materials are known to exhibit temporal response that changes force or displacement at the contact interface under position or force control, respectively. In this paper, we conduct experimental study using force control to explore and observe creep phenomenon in robotic grasping in order to better understand the nature of such contact interface, which has been widely used in soft robotic fingers, robotic feet, and contact surface of robotic arms. We found that the creep response under a constant external force exhibits the characteristics of exponentially increasing or decreasing temporal response. Such characteristics are similar in nature to those found in the relaxation response of viscoelastic materials when the grasping is under position control. Two different types of creep responses are found, depending on the state of grasping. Both Types I and II in creep response mirror the Types I and II in relaxation response. We also found that different loading rates under force control result in different elastic response, in addition to the temporal response. This is an interesting finding because the Fung's model postulates for an elastic response that is independent of, and can be separated from, the temporal response. The experimental results do not show such independence.

Original languageEnglish
Title of host publicationIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
Pages4275-4280
Number of pages6
DOIs
StatePublished - 1 Dec 2010
Event23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei, Taiwan
Duration: 18 Oct 201022 Oct 2010

Publication series

NameIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

Conference

Conference23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
CountryTaiwan
CityTaipei
Period18/10/1022/10/10

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