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100301s2009 xxk| s |||| 0|eng d |
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|a 9781848009813
|9 978-1-84800-981-3
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|a 10.1007/978-1-84800-981-3
|2 doi
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|a TJ210.2-211.495
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|a 629.8
|2 23
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|a Inoue, Takahiro.
|e author.
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|a Mechanics and Control of Soft-fingered Manipulation
|c by Takahiro Inoue, Shinichi Hirai.
|h [electronic resource] /
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| 264 |
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|a London :
|b Springer London,
|c 2009.
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| 300 |
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|b online resource.
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|a text
|b txt
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|a computer
|b c
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|a online resource
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|a text file
|b PDF
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|a Introduction -- Observation of Soft-fingered Grasping and Manipulation -- Elastic Model of Deformable Fingertip -- Fingertip Model with Tangential Deformation -- Variational Formulations in Mechanics -- Statics of Soft-fingered Grasping and Manipulation -- Dynamics of Soft-fingered Grasping and Manipulation -- Control of Soft-fingered Grasping and Manipulation -- Geometrical and Material Nonlinear Elastic Model -- Non-Jacobian Control of Robotic Pinch Tasks -- Three-dimensional Grasping and Manipulation -- Conclusions.
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|a 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.
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| 650 |
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|a Engineering.
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| 650 |
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|a Materials.
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| 650 |
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|a Mechanical engineering.
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| 650 |
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|a Vibration.
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|a Control engineering systems.
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|a Engineering.
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|a Control , Robotics, Mechatronics.
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| 650 |
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|a Vibration, Dynamical Systems, Control.
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| 650 |
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|a Continuum Mechanics and Mechanics of Materials.
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| 650 |
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|a Structural Mechanics.
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| 700 |
1 |
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|a Hirai, Shinichi.
|e author.
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| 710 |
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|a SpringerLink (Online service)
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| 773 |
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|t Springer eBooks
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| 776 |
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8 |
|i Printed edition:
|z 9781848009806
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| 856 |
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|u https://ezaccess.library.uitm.edu.my/login?url=http://dx.doi.org/10.1007/978-1-84800-981-3
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| 912 |
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|a ZDB-2-ENG
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| 950 |
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|a Engineering (Springer-11647)
|