Smart Stiction
- Soft robotics could loosely be described as the engineering science of expanded dexterity through controllable flexibility. The exploitation of controllable compliance through the judicious choice of soft flexible members, as opposed to a finite number of rigid kinematic joints, can result in greater dexterity without compromising simplicity. One example is the replacement of segmented mechanical legs with simple compliant material eruciform prolegs. To achieve this in robotics, without introducing additional mechanical joints, mobile surfaces with switchable coefficients of friction is essential. This paper explains how, using silicone based smart materials, the rapid alternation between kinematic and static friction (stiction) may be achieved.
Author: | Gareth J. MonkmanORCiDGND, Dirk SindersbergerORCiD, Nina PremORCiD, Tamara Szecsey |
---|---|
DOI: | https://doi.org/10.19080/RAEJ.2019.04.555641 |
Parent Title (English): | Robotics & Automation Engineering Journal |
Publisher: | Juniper Publishers |
Document Type: | Article |
Language: | English |
Year of first Publication: | 2019 |
Release Date: | 2022/02/18 |
Volume: | 4 |
Issue: | 4 |
Article Number: | 555641 |
Note: | Corresponding author: Gareth J. Monkman |
Institutes: | Fakultät Elektro- und Informationstechnik |
Fakultät Elektro- und Informationstechnik / Mechatronics Research Unit (MRU) | |
Begutachtungsstatus: | peer-reviewed |
OpenAccess Publikationsweg: | Gold Open Access- Erstveröffentlichung in einem/als Open-Access-Medium |
Corresponding author der OTH Regensburg | |
research focus: | Sensorik |
Licence (German): | Creative Commons - CC BY - Namensnennung 4.0 International |