Robot hands and multi-fingered haptic interfaces : fundamentals and applications

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 m...

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Bibliographic Details
Main Author: Kawasaki, Haruhisa, 1949-
Format: eBook
Language: English
Published: New Jersey : World Scientific, [2015]
Subjects:
Robot hands.
Haptic devices.
elektronické knihy
electronic books
ISBN: 9789814635615
9814635618
9781680158519
1680158511
9789814635608
981463560X
Physical Description: 1 online resource

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Table of contents

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035 |a (OCoLC)904437972  |z (OCoLC)922951994  |z (OCoLC)958391821 
100 1 |a Kawasaki, Haruhisa,  |d 1949-  |1 https://id.oclc.org/worldcat/entity/E39PCjtMrMBfwQcVhFcy3JFhH3 
245 1 0 |a Robot hands and multi-fingered haptic interfaces :  |b fundamentals and applications /  |c Haruhisa Kawasaki, Gifu University, Japan. 
264 1 |a New Jersey :  |b World Scientific,  |c [2015] 
300 |a 1 online resource 
336 |a text  |b txt  |2 rdacontent 
337 |a computer  |b c  |2 rdamedia 
338 |a online resource  |b cr  |2 rdacarrier 
504 |a Includes bibliographical references and index. 
505 0 |a Contents -- About the Author -- Preface -- List of Tables -- List of Figures -- Chapter 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 -- 1.4.1 History of the Robotic Hand -- 1.4.2 Design of the Gifu Hand -- 1.4.2.1 Size -- 1.4.2.2 Finger DOFs -- 1.4.2.3 Configuration of human hand and opposability of the thumb -- 1.4.2.4 Force sensor and distributed tactile sensors -- 1.5 Multi-Fingered Haptic Interfaces 
505 8 |a 1.5.1 Mechanical Structure of the Haptic Interface Robot (HIRO) Hand1.5.2 Control System -- 1.5.3 Human Perception Using the HIRO -- 1.5.3.1 Force perception -- 1.5.3.2 Identification of friction moment direction (FMD) -- Exercises -- Chapter 2. Kinematics of Multi-Fingered Hands -- 2.1 Contact Statics -- 2.1.1 Contact Models -- 2.1.1.1 Point contact model without friction -- 2.1.1.2 Point contact model with friction -- 2.1.1.3 Soft finger contact model -- 2.1.2 Kinematic Constraints Based on Contact Model -- 2.2 Forms and Static Balance of Grasp 
505 8 |a 2.2.1 Grasp Mapping2.2.1.1 Grasp mapping of point contact without friction -- 2.2.1.2 Grasp mapping of point contacts with friction -- 2.2.1.3 Grasp mapping of soft finger -- 2.2.2 Active Constraint and Passive Constraint -- 2.2.3 Form Closure -- 2.2.4 Force Closure -- 2.2.5 Force Distribution -- 2.3 Non-Fixed Contact -- 2.3.1 Pure Rolling Contact Model -- 2.3.2 Twist Rolling Contact Model -- 2.3.3 Slide Rolling Contact Model -- 2.4 Constraint Conditions -- 2.4.1 Contact Model and Constraint Condition -- 2.4.2 Velocity Constraints 
505 8 |a 2.5 Manipulable Grasp of Hands2.5.1 Kinematics and Statics of Fingers -- 2.5.2 Manipulable Grasp -- 2.6 Motion Representation of Rolling Contact by Curved Surface Coordinate -- 2.6.1 Curved Surface Coordinate -- 2.6.2 Contacts between Object and Finger -- Exercises -- Chapter 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 -- 3.3.1 Coordinate Transformation and Diffeomor phism -- 3.3.2 Vector Fields and Lie Derivative 
505 8 |a ""3.3.3 Lie Bracket and Frobenius Theorem""""3.4 Controllability of the System""; ""3.4.1 Concept of Controllability""; ""3.4.2 Controllability of the Linear System""; ""Exercises""; ""Chapter 4. Robot Dynamics""; ""4.1 Motion of a Rigid Body""; ""4.2 Lagrangeâ€?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""; ""4.6.1 Principle of Virtual Work""; ""4.6.2 Dâ€?Alembertâ€?s Principles"" 
506 |a Plný text je dostupný pouze z IP adres počítačů Univerzity Tomáše Bati ve Zlíně nebo vzdáleným přístupem pro zaměstnance a studenty 
520 |a 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 manipulation. 
590 |a Knovel  |b Knovel (All titles) 
650 0 |a Robot hands. 
650 0 |a Haptic devices. 
655 7 |a elektronické knihy  |7 fd186907  |2 czenas 
655 9 |a electronic books  |2 eczenas 
776 0 8 |i Print version:  |a Kawasaki, Haruhisa, 1949-  |t Robot hands and multi-fingered haptic interfaces  |z 9789814635608  |w (DLC) 2014040799  |w (OCoLC)898162353 
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