9781848000629
Control Theory Of Multi-Fingered Hands: A Modelling And Analytical Mechanics Approach For Dexterity And Intelligence - Suguru Arimoto
Springer (2007)
In Collection
#541

Read It:
Yes

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.

Product Details
LoC Classification TJ211.A743 2008
Dewey 629.8933
Format Hardcover
Cover Price 139,00 €
No. of Pages 271
Height x Width 250 x 160 mm
Personal Details
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