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|a 10.1007/978-1-84800-063-6
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|a Arimoto, Suguru.
|e author.
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|a Control Theory of Multi-fingered Hands
|h [electronic resource] :
|b A Modelling and Analytical–Mechanics Approach for Dexterity and Intelligence /
|c by Suguru Arimoto.
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| 250 |
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|a 1st ed. 2008.
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| 264 |
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|a London :
|b Springer London :
|b Imprint: Springer,
|c 2008.
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| 300 |
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|a IX, 271 p.
|b online resource.
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|a 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.
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| 520 |
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|a 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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| 590 |
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|a Loaded electronically.
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| 590 |
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|a Electronic access restricted to members of the Holy Cross Community.
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| 650 |
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|a Robotics.
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| 650 |
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|a Automation.
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| 650 |
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|a Control engineering.
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| 650 |
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|a Mechatronics.
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| 650 |
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|a Artificial intelligence.
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| 690 |
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