Skin materials for robotic fingers

Abstract

Compliant materials were tested both under clean, dry conditions and with environmental contamination to determine which materials were most suitable for the contact areas of a robotic hand and to establish accurate models of the materials' frictional behavior. Some of the most promising materials under clean, dry conditions performed unreliably in the presence of oil and water. Contact shape, surface texture and surface porosity each had a strong effect on the ultimate coefficient of friction. Combining the results of these tests with what we know about the skin on human and primate hands leads to several design conclusions about the ideal skin for the fingers of a robotic hand.