Experimental Highlights upon Tangential Percussions in Mechanical Systems

The paper presents a proposed method for underlying the presence of tangential percussions occurring in multibody systems. Tangential percussions define a relatively newly introduced concept required by the necessity of explaining the sudden change in the state of motion for two bodies interacting only on a direction from the common tangent plane. In robotics domain, normal and tangential percussions are widely met in the case of robotic hands in the moment of contacting the manipulated object