Robot hands and multi-fingered haptic interfaces : fundamentals and applications /

Robot Hands and Multi-Fingered Haptic Interfaces is a monograph focusing on the comparison of human hands with robot hands, the fundamentals behind designing and creating the latter, and robotics' latest advancements in haptic technology. This work discusses the design of robot hands; contact m...

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Detalles Bibliográficos
Clasificación:Libro Electrónico
Autor principal: Kawasaki, Haruhisa, 1949-
Formato: Electrónico eBook
Idioma:Inglés
Publicado: New Jersey : World Scientific, [2015]
Temas:
Robot hands.
Haptic devices.
Préhenseurs.
Interfaces haptiques.
TECHNOLOGY & ENGINEERING > Engineering (General)
Haptic devices
Robot hands
Acceso en línea:Texto completo
Tabla de Contenidos:
  • Contents
  • About the Author
  • Preface
  • List of Tables
  • List of Figures
  • Chapter 1. The Human Hand and the Robotic Hand
  • 1.1 Joints of the Human Hand
  • 1.2 Hand Features
  • 1.3 Tactile Sense
  • 1.4 The Robot Hand
  • 1.4.1 History of the Robotic Hand
  • 1.4.2 Design of the Gifu Hand
  • 1.4.2.1 Size
  • 1.4.2.2 Finger DOFs
  • 1.4.2.3 Configuration of human hand and opposability of the thumb
  • 1.4.2.4 Force sensor and distributed tactile sensors
  • 1.5 Multi-Fingered Haptic Interfaces
  • 1.5.1 Mechanical Structure of the Haptic Interface Robot (HIRO) Hand1.5.2 Control System
  • 1.5.3 Human Perception Using the HIRO
  • 1.5.3.1 Force perception
  • 1.5.3.2 Identification of friction moment direction (FMD)
  • Exercises
  • Chapter 2. Kinematics of Multi-Fingered Hands
  • 2.1 Contact Statics
  • 2.1.1 Contact Models
  • 2.1.1.1 Point contact model without friction
  • 2.1.1.2 Point contact model with friction
  • 2.1.1.3 Soft finger contact model
  • 2.1.2 Kinematic Constraints Based on Contact Model
  • 2.2 Forms and Static Balance of Grasp
  • 2.2.1 Grasp Mapping2.2.1.1 Grasp mapping of point contact without friction
  • 2.2.1.2 Grasp mapping of point contacts with friction
  • 2.2.1.3 Grasp mapping of soft finger
  • 2.2.2 Active Constraint and Passive Constraint
  • 2.2.3 Form Closure
  • 2.2.4 Force Closure
  • 2.2.5 Force Distribution
  • 2.3 Non-Fixed Contact
  • 2.3.1 Pure Rolling Contact Model
  • 2.3.2 Twist Rolling Contact Model
  • 2.3.3 Slide Rolling Contact Model
  • 2.4 Constraint Conditions
  • 2.4.1 Contact Model and Constraint Condition
  • 2.4.2 Velocity Constraints
  • 2.5 Manipulable Grasp of Hands2.5.1 Kinematics and Statics of Fingers
  • 2.5.2 Manipulable Grasp
  • 2.6 Motion Representation of Rolling Contact by Curved Surface Coordinate
  • 2.6.1 Curved Surface Coordinate
  • 2.6.2 Contacts between Object and Finger
  • Exercises
  • Chapter 3. Kinematic Constraint and Controllability
  • 3.1 Holonomic and Non-Holonomic Constraints
  • 3.2 Properties of Non-Holonomic Constraints
  • 3.3 The Basic Differential Geometry
  • 3.3.1 Coordinate Transformation and Diffeomor phism
  • 3.3.2 Vector Fields and Lie Derivative
  • ""3.3.3 Lie Bracket and Frobenius Theorem""""3.4 Controllability of the System""; ""3.4.1 Concept of Controllability""; ""3.4.2 Controllability of the Linear System""; ""Exercises""; ""Chapter 4. Robot Dynamics""; ""4.1 Motion of a Rigid Body""; ""4.2 Lagrangeâ€?s Equation""; ""4.3 Dynamics Model of a Multi-Link Mechanism""; ""4.4 The Basic Properties of the Dynamic Model""; ""4.5 Dynamics Model in Cartesian Space""; ""4.6 Dynamics of the Robot with Holonomic Constraints""; ""4.6.1 Principle of Virtual Work""; ""4.6.2 Dâ€?Alembertâ€?s Principles""

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