Control Theory of Multi-fingered Hands: A Modelling and AnalyticalMechanics Approach for Dexterity and Intelligence

Suguru Arimoto

  • 出版商: Springer
  • 出版日期: 2007-12-17
  • 售價: $7,115
  • 貴賓價: 9.5$6,759
  • 語言: 英文
  • 頁數: 271
  • 裝訂: Hardcover
  • ISBN: 1848000626
  • ISBN-13: 9781848000629

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Description

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.