By Haruhisa Kawasaki
Robot arms and Multi-Fingered Haptic Interfaces is a monograph targeting the comparability of human fingers with robotic fingers, the basics at the back of designing and developing the latter, and robotics' newest developments in haptic technology.
This paintings discusses the layout of robotic arms; touch versions at greedy; kinematic versions of constraint; dynamic versions of the multi-fingered hand; the soundness theorem of non-linear keep an eye on structures; robotic hand keep watch over; layout and keep watch over of multi-fingered haptic interfaces; program structures utilizing multi-fingered haptic interfaces; and telecontrol of robotic arms utilizing a multi-fingered haptic interface.
Robot palms and Multi-Fingered Haptic Interfaces is meant typically for readers who've a starting place in easy robotic arm engineering. to appreciate robotic hand manipulation, readers needs to research kinematic constraint types of arms, hand dynamics with constraints, balance theorems of non-linear regulate, and multi-fingered hand keep an eye on — this e-book will profit readers' knowing of this complete diversity of concerns relating to robotic hand manipulation.
Readership: educational undefined, Researchers, Graduate and Post-Graduate Engineering scholars focusing on robotics.
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Additional info for Robot Hands and Multi-Fingered Haptic Interfaces: Fundamentals and Applications
They included nongrasp grips used in daily activities from the point of view of hand function training. Detailed classiﬁcations for grasping are not necessary from the point of view of robotic hand control. Whether there is a physical constraint of contact or no contact between the hand and the object is of greater importance. 3 shows a simpliﬁed classiﬁcation of hand functions, broadly classiﬁed into contact or non-contact with the object, based on Cutkosky’s (1989) system. In the grasp range shown, dexterity requirements increase from left to right, while power requirements increase from right to left.
17 m, respectively. The arm joints are actuated by servomotors equipped with rotary encoders and gear transmissions. As a haptic interface, the combination of the arm and hand makes a wide workspace. 2. Control System The control system of the HIRO III is shown in Fig. 17. To present the force at the ﬁve human ﬁngertips, 15 DC motors and ﬁve force VR PC Control PC (OS: Windows) (OS: ART-Linux) Fig. 17. Control system of HIRO III. page 21 January 28, 2015 22 8:37 Robot Hands and Multi-Fingered Haptic Interfaces 9in x 6in b1992-ch01 Robot Hands and Multi-Fingered Haptic Interfaces sensors are installed in the haptic hand.
1996) have been presented, all of which attempted to realize adequate object manipulation involving contact with the ﬁngers and palm of a robotic hand. , 2002) was developed to provide a standard robot hand for use in the study of grasping and dexterous manipulation. It was the ﬁrst robotic hand equipped with six-axes force sensors at the ﬁngertips and was covered by distributed tactile sensors. 2. , 2002), the Gifu Hand III (Mouri et al, 2002), as well as the kinematic humanoid (KH) hand type S (Mouri and Kawasaki, 2007).
Robot Hands and Multi-Fingered Haptic Interfaces: Fundamentals and Applications by Haruhisa Kawasaki