IntelliMan_WP5_Grasping, Manipulation and Arm-Hand Coordination_T5.1_Data fusion and sensing technology_IDERCIE2025_Data

The dataset is related to the investigation of slippage phenomena in soft robotic fingertips through Finite Element Analysis (FEA). The study focuses on a hemispherical soft fingertip made of Dragon Skin silicone interacting with a rigid surface, with the objective of identifying the conditions leading to slippage and determining the maximum normal torque sustainable before loss of grip. A nonlinear contact formulation was implemented to accurately model frictional interactions, analyzing the fingertip response under varying normal forces, tangential forces, and applied torques. Simulations were carried out using Ansys to evaluate contact area evolution, stress distribution, and frictional behavior up to the onset of slippage, identified through discontinuities in tangential force and contact indicators.