Analysis of Two-Layer Artificial Soft Fingertip for Dynamic Stable Grasping*.

Robotic hand replaces human labor. In this paper, we focused finger structure. This paper showed the robustness of the finger against dynamic displacement. The fingertips consist of hard silicone as skin and soft one as pulp. We developed four types of fingertips. And a cylinder pull-out test was conducted for evaluation of the dynamic stability of the different layer fingertips. The fingertip of combination, foamed silicone as pulp and hard silicone rubber as skin, performed the best of the fingertips.