A model of soft contact-based manipulation systems and its application to writing tasks

This paper presents a model for soft contact-based manipulation systems and also deals with a soft-fingered writing task in terms of the deformational influence of soft fingertips. In order to evaluate the motion control of a soft-fingered writing task, we use a manipulation control scheme that considers the deformational properties of soft fingertips. Through simulation results, we show that the softness of fingertips plays an important factor when the precision of a writing task is highly considerable.