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Robot hands and multi-fingered haptic interfaces
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 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. Robot Hands and Multi-Fingered Haptic Interfaces is intended mainly for readers who have a foundation in basic robot arm engineering. To understand robot hand manipulation, readers must study kinematic constraint models of fingers, hand dynamics with constraints, stability theorems of non-linear control, and multi-fingered hand control - this book will benefit readers' understanding of this full range of issues regarding robot hand manipulation.
""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) Hand""""1.5.2 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 Mapping""""2.2.1.1 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 Hands""""2.5.1 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 Lagrangeâß?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 Dâß?Alembertâß?s Principles""
Haruhisa Kawasaki, Gifu University, Japan.
Includes bibliographical references and index.
TECHNOLOGY & ENGINEERING / Engineering (General)