Control Theory of Multi-fingered Hands : A Modelling and Analytical-Mechanics Approach for Dexterity and Intelligence /
By: Arimoto, Suguru [author.].
Contributor(s): SpringerLink (Online service).
Material type:
BookPublisher: London : Springer London, 2008.Description: IX, 271 p. online resource.Content type: text Media type: computer Carrier type: online resourceISBN: 9781848000636.Subject(s): Engineering | Artificial intelligence | Control engineering | Robotics | Mechatronics | Automation | Engineering | Robotics and Automation | Control, Robotics, Mechatronics | Artificial Intelligence (incl. Robotics)DDC classification: 629.892 Online resources: Click here to access online | Item type | Current location | Call number | Status | Date due | Barcode | Item holds |
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E books
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PK Kelkar Library, IIT Kanpur | Available | EBK640 |
Characterisations of Human Hands -- Stability of Grasping in a Static or Dynamic Sense -- Testbed Problems to Control a 2-D Object Through Rolling Contact -- Two-dimensional Grasping by a Pair of Rigid Fingers -- Three-dimensional Grasping by a Pair of Rigid Fingers -- Dexterity and Control for Stable Grasping by Soft Fingers.
The hand is an agency of the brain; it reflects activities of the brain and thereby can be seen as a mirror to the mind. The dexterity of the hand has been investigated widely in developmental psychology and in anthropology. Since robotics launched in the mid-1970s, numerous multi-fingered hands mimicking the human hand have been designed and made in a number of universities and research institutes, in addition to sophisticated prosthetic hands with plural fingers. Control Theory of Multi-fingered Hands presents a comprehensive insight into the intelligence and dexterity of robotic multi-fingered hands from both the physical and control-theoretic viewpoints. The book: focuses on the problem of how to control dexterous movements of fingers interacting with an object in the execution of everyday tasks; clarifies what kinds of sensory-motor coordinated signals are necessary and sufficient for realising stable grasping and/or object manipulation, in particular, the synergistic choices of control gains in co-activation signals for finger muscles and tendons crucial in realising secure pinching motions; derives a mathematical model of the dynamics of a complicated mechanism of multiple fingers with multiple joints physically interacting; and, considers the problem of how to recreate the function of "blind grasping". Control Theory of Multi-fingered Hands will be a useful reference for postgraduate students and researchers in this field, as well as engineers and roboticists.
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