Investigating frictional contact behavior for soft material robot simulations

• DOI: 10.1007/s11012-023-01719-5
• Publication Date: 2023-11-07T14:01:58Z
• Authors: Rebecca Berthold; Jessica Burgner-K...; Matthias Wangenheim; Stephanie Kahms
• Keywords: Soft materials; Bridge (graph theory); Contact force

Abstract The ability to interact safely with the environment is known as one of major advantages soft robots (SRs). Due their low material stiffness, these continuously deformable offer inherent flexibility. These make them suitable for application that involve human-robot collaboration in industrial settings well medical such minimally invasive surgery. To date only few research groups have analyzed contact and frictional behavior robots. In fact, often oversimplified or neglected. Motivated by idea bridge this gap, work presents measurements resulting coefficient friction (COF) silicone rubbers are widely used field SRs different partners which depend on pressure ambient temperature. From measurements, a more representative model established accurately simulate robots’ behavior. Moreover influence therefore need implement demonstrated typical SR.