Development of Contact Area Variable Surface for Manipulation Requiring Sliding

Abstract

In this research, we developed a friction variable surface for robots to realize manipulation requiring slip by a robotic hand with soft bodies. The soft robot hands can stably grip many types of objects owing to their high elasticity, causing a large friction force. However, the soft robotic hands cannot manipulate an object easily because the large contact area and frictional force inhibits motion. Sliding is required for manipulation. Hence, we herein present a novel friction variable surface utilizing contact area transition by structural deformation. The surface is termed a contact area variable surface (CAVS). The friction change can be activated passively, and the CAVS can create a soft surface, thereby maintaining the benefit of soft robotic hands. The experimental investigation indicated the validity of the proposed mechanism.