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...
Saved in:
Main Authors: | , |
---|---|
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 |