Identification of Contact Property between Soft-hard Materials

Abstract

We have developed four different profile patterns and four different softness materials have been applied for each profile pattern. And four contact balls with the same diameter have also been developed using four different softness materials. Friction and contact property among four saw-tooth surfaces and four contact balls are measured using a Tribogear surface friction tester. Measurement results are analyzed and these friction models are derived based on these results. The results include contact or friction property between soft/soft-soft/hard materials. This imitates contacts between material and robot arm with human-like appearance. This research is targeted to evaluate contact property between soft materials and between soft and hard materials for robot hand with human-like skin. The human hand can grasp various materials or things with any softness/hardness. A fingerprint may control friction property between finger and materials. This research is a fundamental research to evaluate the effectiveness of surface with a periodic structure such as a fingerprint on friction property with materials grasped.