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.
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