Mechanics and Control of Soft-fingered Manipulation (repost)
Takahiro Inoue, Shinichi Hirai, "Mechanics and Control of Soft-fingered Manipulation"
English | ISBN: 1848009801 | edition 2008 | PDF | 245 pages | 16.3 mb
English | ISBN: 1848009801 | edition 2008 | PDF | 245 pages | 16.3 mb
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.