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|a 9781848009813
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|a 10.1007/978-1-84800-981-3
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|a Inoue, Takahiro.
|e author.
|4 aut
|4 http://id.loc.gov/vocabulary/relators/aut
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| 245 |
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|a Mechanics and Control of Soft-fingered Manipulation
|h [electronic resource] /
|c by Takahiro Inoue, Shinichi Hirai.
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| 250 |
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|a 1st ed. 2009.
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| 264 |
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1 |
|a London :
|b Springer London :
|b Imprint: Springer,
|c 2009.
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| 300 |
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|a XVIII, 245 p.
|b online resource.
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|a Springer eBook Collection
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|a 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.
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|a 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.
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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 Vibration.
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| 650 |
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|a Dynamical systems.
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| 650 |
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|a Dynamics.
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| 650 |
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|a Mechanics.
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| 650 |
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|a Mechanics, Applied.
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| 690 |
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|a Electronic resources (E-books)
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| 700 |
1 |
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|a Hirai, Shinichi.
|e author.
|4 aut
|4 http://id.loc.gov/vocabulary/relators/aut
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| 710 |
2 |
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|a SpringerLink (Online service)
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| 773 |
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|t Springer eBooks
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| 830 |
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|a Springer eBook Collection.
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| 856 |
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|u https://holycross.idm.oclc.org/login?auth=cas&url=https://doi.org/10.1007/978-1-84800-981-3
|3 Click to view e-book
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