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: Mechanics and Control of Soft-fingered Manipulation
  name:
    name part: Inoue, Takahiro.
    role:
      role term: creator
    role:
      role term: author.
  name:
    name part: Hirai, Shinichi.
    role:
      role term: author.
  name:
    name part: SpringerLink (Online service)
  type of resource: text
  origin info:
    place:
      place term: xxk
    date issued: 2009
    issuance: monographic
  language:
    language term: eng
  physical description:
    form: electronic
    form: electronic resource
    reformatting quality: access
    form: remote
    extent: XVIII, 245 p. online resource.
  abstract: 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.
  table of contents: Observation of Soft-fingered Grasping and Manipulation -- Elastic Model of a 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 -- Geometric and Material Nonlinear Elastic Model -- Non-Jacobian Control of Robotic Pinch Tasks -- Three-dimensional Grasping and Manipulation -- Conclusions.
  note: by Takahiro Inoue, Shinichi Hirai.
  subject:
    topic: Engineering
  subject:
    topic: Continuum mechanics
  subject:
    topic: Structural mechanics
  subject:
    topic: Vibration
  subject:
    topic: Dynamical systems
  subject:
    topic: Dynamics
  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: Vibration, Dynamical Systems, Control
  subject:
    topic: Continuum Mechanics and Mechanics of Materials
  subject:
    topic: Structural Mechanics
  classification: TJ210.2-211.495
  classification: T59.5
  classification: 629.892
  related item:
    title info:
      title: Springer eBooks
  identifier: 9781848009813
  identifier: http://dx.doi.org/10.1007/978-1-84800-981-3
  record info:
    record creation date: 100301
    record change date: 20151204190208.0
    record identifier: 978-1-84800-981-3