Characterizing the dynamic deformation of soft fingertips and analyzing its significance for multi-fingered operations

This paper characterizes the dynamic deformation of soft fingertips applied to multi-fingered object manipulations of humanoid robots and analyzes its significance for multi-fingered operations. To this end, we present a dynamic model for soft-fingered object manipulations. For analyzing the control performance of soft-fingered manipulating tasks, we present a dynamic manipulation control scheme that considers the deformation effects of soft fingertips. The simulation results validate the influence of the dynamic deformation of soft fingertips during manipulation in a two-fingered operation, and will enable us to recognize its significance for precise manipulating tasks.