Polyurethane Gel Pulps for Robotic Fingers

The paper presents early results of an experimental activity on finger pulps made of polyurethane gel, a material that seems very promising under many aspects. Tests concern both parametric relationship between the normal force and the contact area (power law) and the shape recovery under variable load, thus allowing preliminary comparison with different materials already described in the literature. In order to perform a comparative evaluation including other parameters that are relevant for application (e.g. surface friction and vibration damping properties) a multi-purpose test equipment is defined and its operating principles and use methodology are described