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.
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