Mechanics and control of soft-fingered manipulation

It is well known that the anatomy of our fingers, which consists of soft fingertips and hard fingernails, is well designed for grasping and manipulating objects. Mechanics and Control of Soft-fingered Manipulation introduces a new approach to the modeling of fingertips that have a soft pad and a har...

Full description

Saved in:
Bibliographic Details
Main Authors: Inoue, Takahiro, Hirai, Shinichi
Format: Book
Language:English
Published: Springer 2017
Subjects:
Online Access:http://repository.vnu.edu.vn/handle/VNU_123/31259
Tags: Add Tag
No Tags, Be the first to tag this record!
Institution: Vietnam National University, Hanoi
Language: English
id oai:112.137.131.14:VNU_123-31259
record_format dspace
spelling oai:112.137.131.14:VNU_123-312592020-06-21T03:21:48Z Mechanics and control of soft-fingered manipulation Inoue, Takahiro Hirai, Shinichi Engineering ; Robot hands ; Robots -- Control systems. 629.8933 It is well known that the anatomy of our fingers, which consists of soft fingertips and hard fingernails, is well designed for grasping and manipulating objects. Mechanics and Control of Soft-fingered Manipulation introduces a new approach to the modeling of fingertips that have a soft pad and a hard back plate, similar to human fingers. Starting from the observation of soft-fingered grasping and manipulation, the book provides a parallel distributed model that takes into account tangential deformation of the fingertips. The model is supported with many experimental verifications and simulation results. Statics and dynamics in soft-fingered grasping and manipulation are also formulated based on this new model. Mechanics and Control of Soft-fingered Manipulation uniquely investigates how soft fingertips with hard back plates enhance dexterity in grasping and manipulation, theoretically and experimentally. This approach reveals the differences between soft-fingered and rigid-fingered manipulation. Researchers involved in object manipulation by robotic hands, as well as in human dexterity in object manipulation, will find this text enlightening. 2017-04-19T06:16:51Z 2017-04-19T06:16:51Z 2009 Book 9781848009813 http://repository.vnu.edu.vn/handle/VNU_123/31259 en 249 p. application/pdf Springer
institution Vietnam National University, Hanoi
building VNU Library & Information Center
country Vietnam
collection VNU Digital Repository
language English
topic Engineering ; Robot hands ; Robots -- Control systems.
629.8933
spellingShingle Engineering ; Robot hands ; Robots -- Control systems.
629.8933
Inoue, Takahiro
Hirai, Shinichi
Mechanics and control of soft-fingered manipulation
description It is well known that the anatomy of our fingers, which consists of soft fingertips and hard fingernails, is well designed for grasping and manipulating objects. Mechanics and Control of Soft-fingered Manipulation introduces a new approach to the modeling of fingertips that have a soft pad and a hard back plate, similar to human fingers. Starting from the observation of soft-fingered grasping and manipulation, the book provides a parallel distributed model that takes into account tangential deformation of the fingertips. The model is supported with many experimental verifications and simulation results. Statics and dynamics in soft-fingered grasping and manipulation are also formulated based on this new model. Mechanics and Control of Soft-fingered Manipulation uniquely investigates how soft fingertips with hard back plates enhance dexterity in grasping and manipulation, theoretically and experimentally. This approach reveals the differences between soft-fingered and rigid-fingered manipulation. Researchers involved in object manipulation by robotic hands, as well as in human dexterity in object manipulation, will find this text enlightening.
format Book
author Inoue, Takahiro
Hirai, Shinichi
author_facet Inoue, Takahiro
Hirai, Shinichi
author_sort Inoue, Takahiro
title Mechanics and control of soft-fingered manipulation
title_short Mechanics and control of soft-fingered manipulation
title_full Mechanics and control of soft-fingered manipulation
title_fullStr Mechanics and control of soft-fingered manipulation
title_full_unstemmed Mechanics and control of soft-fingered manipulation
title_sort mechanics and control of soft-fingered manipulation
publisher Springer
publishDate 2017
url http://repository.vnu.edu.vn/handle/VNU_123/31259
_version_ 1680963401858154496