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

Author: Haruhisa Kawasaki
Publisher: New Jersey : World Scientific, [2015]
Edition/Format:   Print book : EnglishView all editions and formats
Summary:
This monograph focuses on the comparison of human hands with robot hands, the fundamentals behind designing and creating the latter, and robotics' latest advancements in haptic technology. It discusses the design of robot hands; contact models at grasping; kinematic models of constraint; dynamic models of the multi-fingered hand; the stability theorem of non-linear control systems; robot hand control; design and  Read more...
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Document Type: Book
All Authors / Contributors: Haruhisa Kawasaki
ISBN: 9789814635608 981463560X
OCLC Number: 898162353
Description: xxv, 325 pages ; 25 cm
Contents: The human hand and the robotic hand --
Kinematics of multi fingered hands --
Kinematic constraint and controllability --
Robot dynamics --
Stability theory of non linear systems --
Robot hand control --
Multi fingered haptic interface --
Teleoperation of robot hands --
Appendix: Linear algebra --
Matrix operations.
Responsibility: Haruhisa Kawasaki, Gifu University, Japan.

Abstract:

This monograph focuses on the comparison of human hands with robot hands, the fundamentals behind designing and creating the latter, and robotics' latest advancements in haptic technology. It discusses the design of robot hands; contact models at grasping; kinematic models of constraint; dynamic models of the multi-fingered hand; the stability theorem of non-linear control systems; robot hand control; design and control of multi-fingered haptic interfaces; application systems using multi-fingered haptic interfaces; and telecontrol of robot hands using a multi-fingered haptic interface.

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