Biomedical Engineering Reference
In-Depth Information
7
6
5
4
3
2
1
0
0
10
20
30
40
50
60
70
Angle (degree)
Figure 5.10
Experimental data of several consecutive loading curves and the fitted curve
6
4
2
0
(a)
6
4
2
0
(b)
6
4
2
0
0
20
40
60
80
(c)
Angle (Degree)
Figure 5.11
Subtracting the friction: (a) grasping action for an empty grasper; (b) calculated force
using curve-fitting formula; (c) the compensated curve
5.6 Results and Discussion
The registered pressures which are transmitted to different soft materials are shown in
Figure 5.12. As previously mentioned, ICF400 (Figure 5.12a) was very soft, and silicone
rubber-2 (blue, Shore A = 52) (Figure 5.12e) was the hardest in this group. It can be
concluded from Figure 5.12 that as the material becomes harder, the transferred pressure
to the material becomes larger.
For example, in ICF400 (with a softness of 7 on the Shore OO scale) the maximum
transferred pressure was 200 kPa, and for silicone rubber-2 (with a softness of 60 on
Shore A) the maximum pressure was more than 600 kPa.
