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  电子邮件： 我想你可能会对这资料感兴趣，资料位于 http://www.worldcat.org/oclc/166315451 题名： Control theory of multi-fingered hands : a modelling and analytical-mechanics approach for dexterity and intelligence 著者： Suguru Arimoto 出版商： London : Springer, ©2008. ISBN/ISSN: 9781848000629 1848000626 9781848000636 1848000634 OCLC:166315451

  
  

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Control theory of multi-fingered hands : a modelling and analytical-mechanics approach for dexterity and intelligence

著者：	Suguru Arimoto
出版商：	London : Springer, ©2008.
版本/格式：	图书 : 英语查看所有的版本和格式
提要：	(Publisher-supplied data) 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.  再读一些...
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