著者

鈴木 健太 渡邉 鉄也 田中 基八郎

出版者

社団法人日本機械学会

雑誌

日本機械学會論文集. C編 = Transactions of the Japan Society of Mechanical Engineers. C (ISSN:03875024)

巻号頁・発行日

vol.74, no.746, pp.2549-2554, 2008-10-25

参考文献数

8

被引用文献数

1

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rights: 社団法人日本機械学会rights: 本文データは学協会の許諾に基づきCiNiiから複製したものであるrelation: IsVersionOf:http://ci.nii.ac.jp/naid/110006967447/Generally a coefficient of friction of a human finger is very higher than a coefficient of friction of metal. The physical characteristics of a human finger are important in the work by hand. Therefore, the physical and numerical modeling of fingertip is useful for the design of various equipments, for example, a handrail of stairs, a robot hand, an operation simulator, and so on. In this study, "Coulomb friction", "absorption by fingerprint and sweat" and "elasticity of finger" are considered as the element of the friction characteristics. The aim of this study is to express the force by these characteristics as function model and to make the physical fingertip model. At first, the force by friction and absorption are measured, and the contact area between fingertip and board is calculated. Next, the function of friction force with respect to vertical force acting on the contact surface between fingertip and board is suggested. Finally, the actual finger model is made and the friction force is modeled to the function.