rdf-syntax-grammar
mods:
  schema location: http://www.loc.gov/mods/v3 http://www.loc.gov/standards/mods/v3/mods-3-2.xsd
  title info:
    title: Control Theory of Multi-fingered Hands
    sub title: A Modelling and Analytical-Mechanics Approach for Dexterity and Intelligence
  name:
    name part: Arimoto, Suguru.
    role:
      role term: creator
    role:
      role term: author.
  name:
    name part: SpringerLink (Online service)
  type of resource: text
  origin info:
    place:
      place term: xxk
    date issued: 2008
    issuance: monographic
  language:
    language term: eng
  physical description:
    form: electronic
    form: electronic resource
    reformatting quality: access
    form: remote
    extent: IX, 271 p. online resource.
  abstract: 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.
  table of contents: Characterisations of Human Hands -- Stability of Grasping in a Static or Dynamic Sense -- Testbed Problems to Control a 2-D Object Through Rolling Contact -- Two-dimensional Grasping by a Pair of Rigid Fingers -- Three-dimensional Grasping by a Pair of Rigid Fingers -- Dexterity and Control for Stable Grasping by Soft Fingers.
  note: by Suguru Arimoto.
  subject:
    topic: Engineering
  subject:
    topic: Artificial intelligence
  subject:
    topic: Control engineering
  subject:
    topic: Robotics
  subject:
    topic: Mechatronics
  subject:
    topic: Automation
  subject:
    topic: Engineering
  subject:
    topic: Robotics and Automation
  subject:
    topic: Control, Robotics, Mechatronics
  subject:
    topic: Artificial Intelligence (incl. Robotics)
  classification: TJ210.2-211.495
  classification: T59.5
  classification: 629.892
  related item:
    title info:
      title: Springer eBooks
  identifier: 9781848000636
  identifier: http://dx.doi.org/10.1007/978-1-84800-063-6
  record info:
    record creation date: 100301
    record change date: 20151204164833.0
    record identifier: 978-1-84800-063-6