Please use this identifier to cite or link to this item: http://hdl.handle.net/1822/53618

TitleSensors and actuators on determining parameters for being considered in selection of elastomers for biomimetic hands
Author(s)Cârlescu, Vlad
Olaru, Dumitru N.
Prisacaru, Gheorghe
Oprisan, Cezar
Machado, José
KeywordsHuman finger
Young's modulus
Indentation speed
Viscoelastic behavior
Biomimetic hand
Dissipated power
Issue date2017
PublisherMDPI
JournalSensors
Abstract(s)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.
TypeArticle
URIhttp://hdl.handle.net/1822/53618
DOI10.3390/s17061190
ISSN1424-8220
Peer-Reviewedyes
AccessOpen access
Appears in Collections:CT2M - Artigos em revistas de circulação internacional com arbitragem científica

Files in This Item:
File Description SizeFormat 
RI_WoS_20.pdf1,63 MBAdobe PDFView/Open

This item is licensed under a Creative Commons License Creative Commons

Partilhe no FacebookPartilhe no TwitterPartilhe no DeliciousPartilhe no LinkedInPartilhe no DiggAdicionar ao Google BookmarksPartilhe no MySpacePartilhe no Orkut
Exporte no formato BibTex mendeley Exporte no formato Endnote Adicione ao seu ORCID