Control Theory of Multi-fingered Hands : A Modelling and Analytical-Mechanics Approach for Dexterity and Intelligence / by Suguru Arimoto.

Springer eBooks

Characterisations of Human Hands -- Stability of Grasping in a Static or Dynamic Sense -- Testbed Problems to Control a 2-D Object Through Rolling Contact -- Two-dimensional Grasping by a Pair of Rigid Fingers -- Three-dimensional Grasping by a Pair of Rigid Fingers -- Dexterity and Control for Stable Grasping by Soft Fingers.

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.

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