Home Experimental assessment on the contact characteristics of 3D printed flexible poly lactic acid (PLA) soft fingertips
Article
Licensed
Unlicensed Requires Authentication

Experimental assessment on the contact characteristics of 3D printed flexible poly lactic acid (PLA) soft fingertips

  • S. Yuvaraj , K. Venkatesh Raja ORCID logo EMAIL logo , M. Bakkiyaraj , R. Malayalamurthi , S. Magibalan , K. Thavasilingam and K. Muralidharan
Published/Copyright: October 19, 2022
Become an author with De Gruyter Brill
Author Information
International Journal of Materials Research
From the journal International Journal of Materials Research Volume 113 Issue 12

Abstract

This purpose of this research work primarily focuses on assessing the contact characteristics of a novel 3D printed flexible poly lactic acid (PLA) fingertip exposed to a normal load ranging from 1–750 N. The 3D printed fingertip is pressed against three different target surfaces having concave, convex and flat profiles to facilitate a rational comparison. The growth of contact area is recorded for a wide range of applied normal force against the fingertip on logging sheets and the same is converted in vector format for facilitating digital measurements. From close examination of the results, it may be noted that the rate of growth of contact area follows the parametric relationship a = cN γ . A weighted least squares fit algorithm is used to formulate the parametric relationship based on experimental data. Further, the contact characteristics of the 3D printed fingertip follows the same pattern of soft neoprene fingertip, and it is well in line with the expected results. Hence, it is evident that 3D printed fingertips could be utilized for handling fragile to hard objects and capable of handling multi-profiled objects in dexterous robotic manipulation. Moreover, complex profiled fingertips can easily be manufactured by 3D printing, and it can be considered as a better alternative for conventionally manufactured anthropomorphic robotic grippers. Practical implications of this research will be highly useful for development of soft-fingered robotic grippers for dexterous robotic manipulations.

Keywords: 3D printed fingertips; Anthropomorphic finger modeling; Conformal contact; Soft fingertips
Corresponding author: K. Venkatesh Raja, Department of Mechanical Engineering, Sona College of Technology, Salem 636 005, Tamil Nadu, India E-mail:

  1. Author contributions: All the authors have accepted responsibility for the entire content of this submitted manuscript and approved submission.

  2. Research funding: None declared.

  3. Conflict of interest statement: The authors declare no conflicts of interest regarding this article.

References

1. Hertz, H. On the Contact of Rigid Elastic Solids and on Hardness, 1882; chapter 6: Assorted papers by H. Hertz.Search in Google Scholar

2. Timoshenko, S. P., Goodier, J. N. Theory of Elasticity, McGraw-Hill: New York, 1951.Search in Google Scholar

3. Schallamach, A. The load dependence of rubber friction. Proc. Phys. Soc. B 1952, 65, 657. https://doi.org/10.1088/0370-1301/65/9/301.Search in Google Scholar

4. Cutkosky, M., Jourdain, J., Wright, P. Skin materials for robotic fingers. In Robotics and Automation. Proceedings. 1987 IEEE International Conference, Vol. 4, 1987; pp. 1649–1654.10.1109/ROBOT.1987.1087913Search in Google Scholar

5. Kinoshita, H., Backstrom, L., Flanagan, J. R., Johansson, R. S. Tangential torque effects on the control of grip forces when holding objects with a precision grip. J. Neurophysiol. 1997, 78, 1619–1630. https://doi.org/10.1152/jn.1997.78.3.1619.Search in Google Scholar PubMed

6. Tatara, Y. Extensive theory of force-approach relations of elastic spheres in compression and in impact. J. Eng. Mater. Technol. 1989, 111, 163–168. https://doi.org/10.1115/1.3226449.Search in Google Scholar

7. Tatara, Y. On compression of rubber elastic sphere over a large range of displacements part 1: theoretical study. J. Eng. Mater. Technol. 1991, 113, 285–291. https://doi.org/10.1115/1.2903407.Search in Google Scholar

8. Tatara, Y., Shima, S., Lucero, J. C. On compression of rubber elastic sphere over a large range of displacements—Part 2: comparison of theory and experiment. J. Eng. Mater. Technol. 1991, 113, 292–295. https://doi.org/10.1115/1.2903408.Search in Google Scholar

9. Cutkosky, M. R., Wright, P. K. Friction, stability and the design of robotic fingers. Int. J. Robot Res. 1986, 5, 20–37. https://doi.org/10.1177/027836498600500402.Search in Google Scholar

10. Howe, R. D., Kao, I., Cutkosky, M. R. The sliding of robot fingers under combined torsion and shear loading. In Robotics and Automation. Proceedings, 1988 IEEE International Conference, Vol. 2, 1988; pp. 103–105.10.1109/ROBOT.1988.12032Search in Google Scholar

11. Kao, I., Cutkosky, M. R. Quasistatic manipulation with compliance and sliding. Int. J. Robot Res. 1992, 11, 20–40. https://doi.org/10.1177/027836499201100102.Search in Google Scholar

12. Han, H. Y., Shimada, A., Kawamura, S. Analysis of friction on human fingers and design of artificial fingers. In Robotics and Automation. Proceedings, 1996 IEEE International Conference, Vol. 4, 1996; pp. 3061–3066.10.1109/ROBOT.1996.509177Search in Google Scholar

13. Xydas, N., Kao, I. Modeling of contact mechanics with experimental results for soft fingers. In Intelligent Robots and Systems, Proceedings, 1998 IEEE/RSJ International Conference, Vol. 1, 1998; pp. 488–493.10.1109/IROS.1998.724666Search in Google Scholar

14. Xydas, N., Kao, I. Modeling of contact mechanics and friction limit surfaces for soft fingers in robotics, with experimental results. Int. J. Robot Res. 1999, 18, 941–950; https://doi.org/10.1177/02783649922066673.Search in Google Scholar

15. Xydas, N., Bhagavat, M., Kao, I. Study of soft-finger contact mechanics using finite elements analysis and experiments. In Robotics and Automation, 2000 Proceedings. ICRA’00 IEEE International Conference, Vol. 3, 2000; pp. 2179–2184.10.1109/ROBOT.2000.846351Search in Google Scholar

16. Park, K. H., Kim, B. H., Hirai, S. Development of a soft-fingertip and its modeling based on force distribution. In Robotics and Automation, 2003 Proceedings. ICRA’03. IEEE International Conference, Vol. 3, 2003; pp. 3169–3174.10.1109/ROBOT.2003.1242078Search in Google Scholar

17. Hubbard, G. S. Humans and robots: hand in grip. Acta Astronaut. 2005, 57, 649–660. https://doi.org/10.1016/j.actaastro.2005.03.054.Search in Google Scholar PubMed

18. Shimawaki, S., Sakai, N. Quasi-static deformation analysis of a human finger using a three-dimensional finite element model constructed from CT images. J. Environ. Eng. 2007, 2, 56–63. https://doi.org/10.1299/jee.2.56.Search in Google Scholar

19. Elango, N., Marappan, R. Analysis on the fundamental deformation effect of a robot soft finger and its contact width during power grasping. Int. J. Adv. Manuf. Technol. 2011, 52, 797–804. https://doi.org/10.1007/s00170-010-2747-7.Search in Google Scholar

20. Shimoga, K. B., Goldenberg, A. A. Soft materials for robotic fingers. In Robotics and Automation, 1992 Proceedings, IEEE International Conference, Vol. 2, 1992; pp. 1300–1305.10.1109/ROBOT.1992.220069Search in Google Scholar

21. Shimoga, K. B., Goldenberg, A. A. Soft robotic fingertips: part I: a comparison of construction materials. Int. J. Robot Res. 1996, 15, 320–334. https://doi.org/10.1177/027836499601500402.Search in Google Scholar

22. Shjmoga, K. B., Goldenberg, A. A. Soft robotic fingertips part II: modeling and impedance regulation. Int. J. Robot Res. 1996, 15, 335–350.10.1177/027836499601500403Search in Google Scholar

23. Tiezzi, P., Vassura, G. Experimental analysis of soft fingertipswith internal rigid core. In Advanced Robotics, ICAR’05. Proceedings, 12th International Conference, 2005; pp. 109–114.10.1109/ICAR.2005.1507399Search in Google Scholar

24. Piccinini, M., Berselli, G., Zucchelli, A., Vassura, G. Predicting the compliance of soft fingertips with differentiated layer design: a numerical and experimental investigation. In Advanced Robotics, International Conference; ICAR, Vol. 2, 2009; 1–6.Search in Google Scholar

25. Yaralioglu, G. G., Degerteki, F. L., Crozier, K. B., Quate, C. F. Contact stiffness of layered materials for ultrasonic atomic force microscopy. J. Appl. Phys. 2000, 87, 7491–7496. https://doi.org/10.1063/1.373014.Search in Google Scholar

26. Treesatayapun, C. Grasping force controller for parallel grip with fuzzy rules emulated networks. Int. J. Adv. Manuf. Technol. 2013, 68, 45–55. https://doi.org/10.1007/s00170-012-4707-x.Search in Google Scholar

27. Raja, K. V., Malayalamurthi, R. Assessment on assorted hyper-elastic material models applied for large deformation soft finger contact problems. Int. J. Mech. Mater. Des. 2011, 7, 299. https://doi.org/10.1007/s10999-011-9167-1.Search in Google Scholar

28. Raja, K. V., Malayalamurthi, R. Assessment and influence of internal rigid core on the contact parameters for soft hemispherical fingertips. J. Polym. Eng. 2014, 34, 145–152. https://doi.org/10.1515/polyeng-2013-0121.Search in Google Scholar

29. Raja, K. V., Malayalamurthi, R. Assessment on the contact factors of a sandwich soft finger model–An experimental investigation. Int. J. Oper. Res. 2015, 106, 521–526. https://doi.org/10.3139/146.111206.Search in Google Scholar

30. Elango, N., Faudzi, A. A. M. A review article: investigations on soft materials for soft robot manipulations. Int. J. Adv. Manuf. Technol. 2015, 80, 1027–1037. https://doi.org/10.1007/s00170-015-7085-3.Search in Google Scholar

31. Tiezzi, P., Kao, I. Characteristics of contact and limit surface for viscoelastic fingers. In Robotics and Automation, Proceedings 2006 IEEE International Conference; ICRA, Vol. 2, 2006; pp. 1365–1370.10.1109/ROBOT.2006.1641899Search in Google Scholar

32. Chen, J., Zribi, M. Control of multifingered robot hands with rolling and sliding contacts. Int. J. Adv. Manuf. Technol. 2000, 16, 71–77. https://doi.org/10.1007/pl00013133.Search in Google Scholar

33. Cherif, M., Gupta, K. K. Global planning for dexterous reorientation of rigid objects: finger tracking with rolling and sliding. Int. J. Robot Res. 2001, 20, 57–84. https://doi.org/10.1177/02783640122067273.Search in Google Scholar

34. Heyneman, B., Cutkosky, M. R. Slip classification for dynamic tactile array sensors. Int. J. Robot Res. 2016, 35, 404–421. https://doi.org/10.1177/0278364914564703.Search in Google Scholar

35. Seo, J., Yim, M., Kumar, V. A theory on grasping objects using effectors with curved contact surfaces and its application to whole-arm grasping. Int. J. Robot Res. 2016, 35, 1080–1102. https://doi.org/10.1177/0278364915600079.Search in Google Scholar

36. Deimel, R., Brock, O. A novel type of compliant and underactuated robotic hand for dexterous grasping. Int. J. Robot Res. 2016, 35, 161–185. https://doi.org/10.1177/0278364915592961.Search in Google Scholar

37. Khansari, M., Klingbeil, E., Khatib, O. Adaptive humaninspired compliant contact primitives to perform surface–surface contact under uncertainty. Int. J. Robot Res. 2016, 35, 1651–1675. https://doi.org/10.1177/0278364916648389.Search in Google Scholar

38. Tavakoli, M., Sayuk, A., Lourenço, J., Neto, P. Anthropomorphic finger for grasping applications: 3D printed endoskeleton in a soft skin. Int. J. Adv. Manuf. Technol. 2017, 91, 2607–2620. https://doi.org/10.1007/s00170-016-9971-8.Search in Google Scholar

39. Feng, N., Shi, Q., Wang, H., Gong, J., Liu, C., Lu, Z. A soft robotic hand: design, analysis, sEMG control, and experiment. Int. J. Adv. Manuf. Technol. 2018, 97, 1–15. https://doi.org/10.1007/s00170-018-1949-2.Search in Google Scholar

40. Yuvaraj, S., Malayalamurthi, R., Raja, K. V. Assessment of the contact behavior of a soft hemispherical finger tip in curved profile grasping. Int. J. Mater. Res. 2016, 107, 777–782. https://doi.org/10.3139/146.111410.Search in Google Scholar

41. Yuvaraj, S., Malayalamurthi, R., Gokulprasath, S., Raja, K. V. Assessment of contact parameters of soft splined hemispherical finger-tip pressed against a concave profile. Mater. Res. Express 2018, 5, 065319. https://doi.org/10.1088/2053-1591/aac259.Search in Google Scholar

42. Yuvaraj, S., Malayalamurthi, R., Raja, K. V. Assessment of soft materials for anthropomorphic soft robotic fingertips. Mater. Test. 2018, 60, 902–906. https://doi.org/10.3139/120.111229.Search in Google Scholar

43. Yuvaraj, S., Malayalamurthi, R., Raja, K. V., Prabhu, M., Kumar, V. P., Pandiyan, B., Rahul, G. Assessment of contact characteristics of soft fingertip applied for multi-profile grasping. In IOP Conference Series: Materials Science and Engineering; IOP Publishing, 2018; Vol. 402, p. 012118.10.1088/1757-899X/402/1/012118Search in Google Scholar

44. Yuvaraj, S., Malayalamurthi, R., Raja, K. The haptic and perceptional characteristics of an anthropomorphic curved soft finger structure. Curved Layer. Struct. 2019, 6, 161–168. https://doi.org/10.1515/cls-2019-0013.Search in Google Scholar

45. Wang, Z., Hirai, S. A 3D printed soft gripper integrated with curvature sensor for studying soft grasping. In IEEE/SICE International Symposium on System Integration (SII); IEEE, 2016; pp 629–633.10.1109/SII.2016.7844069Search in Google Scholar

46. Low, J. H., Lee, W. W., Khin, P. M., Thakor, N. V., Kukreja, S. L., Ren, H. L., Yeow, C. H. Hybrid tele-manipulation system using a sensorized 3-D-printed soft robotic gripper and a soft fabric-based haptic glove. IEEE Rob. Autom. Lett. 2017, 2, 880–887. https://doi.org/10.1109/lra.2017.2655559.Search in Google Scholar

47. Zhang, H., Kumar, A. S., Fuh, J. Y. H., Wang, M. Y. Design and development of a topology-optimized three-dimensional printed soft gripper. Soft Robot. 2018, 5, 650–661. https://doi.org/10.1089/soro.2017.0058.Search in Google Scholar PubMed

48. Zhu, M., Mori, Y., Wakayama, T., Wada, A., Kawamura, S. A fully multi-material three-dimensional printed soft gripper with variable stiffness for robust grasping. Soft Robot. 2019, 6, 507–519. https://doi.org/10.1089/soro.2018.0112.Search in Google Scholar PubMed

49. Zhang, N., Ge, L., Xu, H., Zhu, X., Gu, G. 3D printed, modularized rigid-flexible integrated soft finger actuators for anthropomorphic hands. Sens. Actuator A: Phys. 2020, 312, 112090. https://doi.org/10.1016/j.sna.2020.112090.Search in Google Scholar

50. Deng, E., Tadesse, Y., A soft 3D-printed robotic hand actuated by coiled SMA. In Actuators; Multidisciplinary Digital Publishing Institute, Vol. 10, 2021; p. 6.10.3390/act10010006Search in Google Scholar

51. Wolterink, G., Sanders, R., van Beijnum, B. J., Veltink, P., Krijnen, G. A 3D-printed soft fingertip sensor for providing information about normal and shear components of interaction forces. Sensors 2021, 21, 4271. https://doi.org/10.3390/s21134271.Search in Google Scholar PubMed PubMed Central

52. Shorthose, O., Albini, A., He, L., Maiolino, P. Design of a 3D-printed soft robotic hand with integrated distributed tactile sensing. IEEE Rob. Autom. Lett. 2022, 7, 3945–3952. https://doi.org/10.1109/lra.2022.3149037.Search in Google Scholar

53. Zhou, H., Tawk, C., Alici, G. A 3D printed soft robotic hand with embedded soft sensors for direct transition between hand gestures and improved grasping quality and diversity. IEEE Trans. Neural Syst. Rehabil. Eng. 2022, 30, 550–558. https://doi.org/10.1109/tnsre.2022.3156116.Search in Google Scholar PubMed

54. AutoCAD Raster Design Documentation 2014; AutoCAD Inc. 2012.Search in Google Scholar
Received: 2022-03-31
Accepted: 2022-06-13
Published Online: 2022-10-19
Published in Print: 2022-12-16

© 2022 Walter de Gruyter GmbH, Berlin/Boston

Articles in the same Issue

  1. Frontmatter
  2. Original Papers
  3. Predicted interfacial thermal conductance and thermal conductivity of graphite flakes/Al composites with different alloy composition
  4. Tribological behaviour of nano-sized beta phase silicon nitride: effects of the contact conditions
  5. Experimental assessment on the contact characteristics of 3D printed flexible poly lactic acid (PLA) soft fingertips
  6. Efficient natural dye sensitized solar cell from PVDF based polymer electrolyte filled with layered graphite
  7. Regulation of the photovoltaic performance of TiO2@MAPbI3 core–shell nanowire arrays
  8. Hydrothermal synthesis of CoAl2O4 spinel: effect of reaction conditions on the characteristic and morphological features
  9. Peroxymonosulfate oxidation process activated with heterogeneous amorphous Co78Si8B14 alloy for degradation of Orange II
  10. A study of melting temperatures in bismuth and antimony
  11. Short Communication
  12. Corrosion study of 430 stainless steel with cobalt electrodeposited obtained from the recycling of Li-ion batteries
  13. News
  14. DGM – Deutsche Gesellschaft für Materialkunde
https://doi.org/10.1515/ijmr-2022-0179
Keywords for this article
3D printed fingertips; Anthropomorphic finger modeling; Conformal contact; Soft fingertips

Articles in the same Issue

  1. Frontmatter
  2. Original Papers
  3. Predicted interfacial thermal conductance and thermal conductivity of graphite flakes/Al composites with different alloy composition
  4. Tribological behaviour of nano-sized beta phase silicon nitride: effects of the contact conditions
  5. Experimental assessment on the contact characteristics of 3D printed flexible poly lactic acid (PLA) soft fingertips
  6. Efficient natural dye sensitized solar cell from PVDF based polymer electrolyte filled with layered graphite
  7. Regulation of the photovoltaic performance of TiO2@MAPbI3 core–shell nanowire arrays
  8. Hydrothermal synthesis of CoAl2O4 spinel: effect of reaction conditions on the characteristic and morphological features
  9. Peroxymonosulfate oxidation process activated with heterogeneous amorphous Co78Si8B14 alloy for degradation of Orange II
  10. A study of melting temperatures in bismuth and antimony
  11. Short Communication
  12. Corrosion study of 430 stainless steel with cobalt electrodeposited obtained from the recycling of Li-ion batteries
  13. News
  14. DGM – Deutsche Gesellschaft für Materialkunde
Sign up now to receive a 20% welcome discount
Institutional Access
How does access work?
Have an idea on how to improve our website?
Please write us.
© 2025 De Gruyter Brill
Downloaded on 27.9.2025 from https://www.degruyterbrill.com/document/doi/10.1515/ijmr-2022-0179/html
Scroll to top button