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Robot hands and multi-fingered haptic interfaces : fundamentals and applications / Haruhisa Kawasaki, Gifu University, Japan

By: Contributor(s): Resource type: Ressourcentyp: Buch (Online)Book (Online)Language: English Publisher: New Jersey ; London ; Singapore ; Beijing ; Shanghai ; Hong Kong ; Taipei ; Chennai : World Scientific, [2015]Copyright date: © 2015Description: 1 Online-Ressource (xxv, 312 Seiten)ISBN:
  • 9789814635622
  • 9789814635615
  • 9789814635608
Subject(s): Additional physical formats: 9789814635608 | Erscheint auch als: Robot hands and multi-fingered haptic interfaces. Druck-Ausgabe Hackensack, NJ : World Scientific, 2015. XXV, 325 S. | Available in another form: 9789814635608 DDC classification:
  • 629.8/933
LOC classification:
  • TJ211.43
DOI: DOI: 10.1142/9400Online resources: Additional physical formats: Electronic reproduction; System requirements: Adobe Acrobat ReaderSummary: Robot Hands and Multi-Fingered Haptic Interfaces is a monograph focusing on the comparison of human hands with robot hands, the fundamentals behind designing and creating the latter, and robotics' latest advancements in haptic technology. This work discusses the design of robot hands; contact models at grasping; kinematic models of constraint; dynamic models of the multi-fingered hand; the stability theorem of non-linear control systems; robot hand control; design and control of multi-fingered haptic interfaces; application systems using multi-fingered haptic interfaces; and telecontrol of robot hands using a multi-fingered haptic interface. Robot Hands and Multi-Fingered Haptic Interfaces is intended mainly for readers who have a foundation in basic robot arm engineering. To understand robot hand manipulation, readers must study kinematic constraint models of fingers, hand dynamics with constraints, stability theorems of non-linear control, and multi-fingered hand control - this book will benefit readers' understanding of this full range of issues regarding robot hand manipulationSummary: ch. 1. The human hand and the robotic hand. 1.1. Joints of the human hand. 1.2. Hand features. 1.3. Tactile sense. 1.4. The robot hand. 1.5. Multi-fingered haptic interfaces -- ch. 2. Kinematics of multi-fingered hands. 2.1. Contact statics. 2.2. Forms and static balance of grasp. 2.3. Non-fixed contact. 2.4. Constraint conditions. 2.5. Manipulable grasp of hands. 2.6. Motion representation of rolling contact by curved surface coordinate -- ch. 3. Kinematic constraint and controllability. 3.1. Holonomic and non-holonomic constraints. 3.2. Properties of non-holonomic constraints. 3.3. The basic differential geometry. 3.4. Controllability of the system -- ch. 4. Robot dynamics. 4.1. Motion of a rigid body. 4.2. Lagrange's equation. 4.3. Dynamics model of a multi-link mechanism. 4.4. The basic properties of the dynamic model. 4.5. Dynamics model in Cartesian space. 4.6. Dynamics of the robot with holonomic constraints. 4.7. Robot dynamics with non-holonomic constraints. 4.8. Robot hand dynamics. 4.9. Base parameters of robot dynamic model -- ch. 5. Stability theory of non-linear systems. 5.1. Basics of non-linear systems. 5.2. Non-linear autonomous systems. 5.3. Non-autonomous systems -- ch. 6. Robot hand control. 6.1. Impedance control. 6.2. Computed torque control. 6.3. Adaptive control. 6.4. Adaptive control at a sliding contact. 6.5. Grasp imitating human grasping reflex -- ch. 7. Multi-fingered haptic interface. 7.1. Indirect control and direct control. 7.2. Control of multi-fingered haptic interface. 7.3. Medical application systems -- ch. 8. Teleoperation of robot hands 8.1. Fundamentals of bilateral control. 8.2. Improved master-slave control. 8.3. Bilateral control with time delay. 8.4. Teleoperation of multi-fingered robot hand. 8.5. Design and control of prosthetic handPPN: PPN: 877499527Package identifier: Produktsigel: ZDB-124-WOP
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Electronic reproduction; System requirements: Adobe Acrobat Reader

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