| Edition |
First edition. |
| Description |
1 online resource |
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text txt rdacontent |
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computer c rdamedia |
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online resource cr rdacarrier |
| Note |
Online resource; title from PDF title page (EBSCO, viewed June 29, 2018). |
| Bibliography |
Includes bibliographical references and index. |
| Summary |
"Human Inspired Dexterity in Robotic Manipulation provides up-to-date research and information on how to imitate humans and realize robotic manipulation. Approaches from both software and hardware viewpoints are shown, with sections discussing, and highlighting, case studies that demonstrate how human manipulation techniques or skills can be transferred to robotic manipulation. From the hardware viewpoint, the book discusses important human hand structures that are key for robotic hand design and how they should be embedded for dexterous manipulation. This book is ideal for the research communities in robotics, mechatronics and automation. Investigates current research direction in robotic manipulation shows how human manipulation techniques and skills can be transferred to robotic manipulation identifies key human hand structures for robotic hand design and how they should be embedded in the robotic hand for dexterous manipulation"-- Provided by publisher |
| Contents |
Background : Dexterity in Robotic Manipulation by Imitating Human Beings / Tetsuyou -- Digital Hand : Interface Between the Robot Hand and Human Hand / Makiko Kouchi, Mitsunori Tada -- Sensorimotor Learning of Dexterous Manipulation / Qiushi Fu, Marco Santello -- Intuitive Control in Robotic Manipulation / Jumpei Arata -- Modeling and Human Performance in Manipulating Parallel Flexible Objects / Mikhail Svinin' [and three others] -- Approaching Human Hand Dexterity Through Highly Biomimetic Design / Zhe Xu -- Hand Design : Hybrid Soft and Hard Structures Based on Human Fingertips for Dexterity / Tetsuyou Watanabe -- Dynamic Manipulation Based on Thumb Opposability : Passivity-Based Blind Grasping and Manipulation / Ryuta Ozawa, Ji-Hun Bae -- A Grasping and Manipulation Scheme That is Robust Against Time Delays of Sensing Information : An Application of a Controller Based on Finger-Thumb Opposability / Kenji Tahara, Akihiro Kawamura -- Planning Dexterous Dual-Arm Manipulation / Kensuke Harada -- Prospects of Further Dexterity in Robotic Manipulation by Imitating Human Beings / Tetsuyou Watanabe. |
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Front Cover; Human Inspired Dexterity in Robotic Manipulation; Copyright; Contents; Contributors; Chapter 1: Background: Dexterity in Robotic Manipulation by Imitating Human Beings; 1.1. Background; 1.2. Complemental Information; 1.2.1. Statistically Significant Difference; 1.2.2. State Space Representation; 1.2.3. Mechanical Impedance; 1.2.4. Fundamental Grasping Style; 1.2.5. Kinematics and Statics of Robots; 1.2.6. Dynamics of Robots; References; Section 1; Chapter 2: Digital Hand: Interface Between the Robot Hand and Human Hand; 2.1. Introduction |
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2.2. Structure of the Human Hand and Digital Hand2.2.1. Anatomy of the Human Hand; 2.2.2. Link and Joint of the Digital Hand; 2.2.3. Surface Mesh of a Digital Hand; 2.3. Digital-Hand Model With Size Variations; 2.3.1. Individual Digital-Hand Model; 2.3.2. Representative Digital Hand Models; 2.4. Analysis by Digital-Hand Model; 2.4.1. Motion Analysis and Posture Synthesis; 2.4.2. Mechanical Analysis; 2.5. Conclusion; References; Chapter 3: Sensorimotor Learning of Dexterous Manipulation; 3.1. Introduction; 3.2. Learning Manipulation: Theoretical and Experimental Evidence; 3.2.1. Background |
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3.2.2. Interaction Between Multiple Sensorimotor Processes Underlies Learning Dexterous Manipulation3.2.2.1. Subjects and Apparatus; 3.2.3. Protocols; 3.2.3.1. Data Analysis; 3.2.3.2. Model and Simulation; 3.2.3.3. Results; 3.2.3.4. Discussion; 3.3. Lessons Learned From Human Data and Potential Applications to Robotic Dexterous Manipulation; 3.4. Conclusions; References; Further Reading; Chapter 4: Intuitive Control in Robotic Manipulation; 4.1. Introduction; 4.2. Multisensory Integration and Illusion; 4.3. Robotically Enhanced Illusion; 4.4. Multisensory Illusion on Master-Slave System |
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4.5. ConclusionsReferences; Chapter 5: Modeling and Human Performance in Manipulating Parallel Flexible Objects; 5.1. Introduction; 5.2. Minimum Hand-Jerk Model; 5.3. Minimum Hand-Force-Change Model; 5.4. Hand Mass Identification; 5.5. Experimental Results; 5.5.1. Hand Mass Identification; 5.5.2. Analysis of Reaching Movements; 5.6. Discussion; 5.7. Conclusions; References; Section 2; Chapter 6: Approaching Human Hand Dexterity Through Highly Biomimetic Design; 6.1. Introduction; 6.2. Related Work and Motivation; 6.2.1. Anthropomorphic Robotic/Prosthetic Hands |
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6.2.2. Design Tools for Medicine and Biology Research6.3. The Important Anatomy of the Human Hand; 6.3.1. Bones and Joints; 6.3.2. Joint Ligaments; 6.3.3. Flexor and Extensor Tendons; 6.3.4. Tendon Sheaths; 6.3.5. Biological Joints; 6.4. Development of the Highly Biomimetic Robotic Hand; 6.4.1. The Rapid Prototyping Process of Our Biomimetic Robotic Hand; 6.4.2. Teleoperation of Our Proposed Robotic Hand; 6.5. Performance of the Biomimetic Robotic Hand; 6.5.1. Fingertip Trajectories; 6.5.2. Object Grasping and Manipulation; 6.6. Conclusion; References; Further Reading |
| Subject |
Robots -- Control systems.
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Robotics -- Human factors.
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Robots -- Systèmes de commande.
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Robotique -- Facteurs humains.
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TECHNOLOGY & ENGINEERING -- Engineering (General)
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Robotics -- Human factors
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Robots -- Control systems
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| Added Author |
Harada, Kensuke, author.
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Tada, Mitsunori, author.
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| Other Form: |
Print version: Watanabe, Tetsuyou. Human Inspired Dexterity in Robotic Manipulation. First edition. London : Academic Press, an imprint of Elsevier, [2018] 0128133856 9780128133859 (OCoLC)1004368710 |
| ISBN |
9780128133965 (electronic bk.) |
|
0128133961 (electronic bk.) |
|
9780128133859 |
|
0128133856 |
| Standard No. |
GBVCP 1028101279 |
|
