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It is critical to minimise the force during handling thin and flexible objects to prevent potential damage to the object while securing manipulation. We employ beam theory~\cite{audoly2008elasticity} to analyse the force involved in the deformation of such objects when they are manipulated by our proposed RoTip sensors. This section details the theoretical force analysis when the object is squeezed into a curved shape, as illustrated in the following figure.
Theoretical force analysis of squeezing the thin and flexible object with our RoTip sensors (cross section view). The black arrows and red arrows represent the forces and torques applied to the finger and the object, respectively.Â
Real-World and Simulation Test
Real-World and Simulation Test
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