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008 150903s2009 xxk| o |||| 0|eng d
020 _a9781848009813
_99781848009813
024 7 _a10.1007/9781848009813
_2doi
035 _avtls000344328
039 9 _a201509030358
_bVLOAD
_c201405050305
_dVLOAD
_y201402061254
_zstaff
040 _aMX-SnUAN
_bspa
_cMX-SnUAN
_erda
050 4 _aTJ210.2-211.495
100 1 _aInoue, Takahiro.
_eautor
_9321778
245 1 0 _aMechanics and Control of Soft-fingered Manipulation /
_cby Takahiro Inoue, Shinichi Hirai.
264 1 _aLondon :
_bSpringer London,
_c2009.
300 _brecurso en línea.
336 _atexto
_btxt
_2rdacontent
337 _acomputadora
_bc
_2rdamedia
338 _arecurso en línea
_bcr
_2rdacarrier
347 _aarchivo de texto
_bPDF
_2rda
500 _aSpringer eBooks
505 0 _aObservation of Soft-fingered Grasping and Manipulation -- Elastic Model of a Deformable Fingertip -- Fingertip Model with Tangential Deformation -- Variational Formulations in Mechanics -- Statics of Soft-fingered Grasping and Manipulation -- Dynamics of Soft-fingered Grasping and Manipulation -- Control of Soft-fingered Grasping and Manipulation -- Geometric and Material Nonlinear Elastic Model -- Non-Jacobian Control of Robotic Pinch Tasks -- Three-dimensional Grasping and Manipulation -- Conclusions.
520 _aIt is well known that the anatomy of our fingers, which consists of soft fingertips and hard fingernails, is well designed for grasping and manipulating objects. Mechanics and Control of Soft-fingered Manipulation introduces a new approach to the modeling of fingertips that have a soft pad and a hard back plate, similar to human fingers. Starting from the observation of soft-fingered grasping and manipulation, the book provides a parallel distributed model that takes into account tangential deformation of the fingertips. The model is supported with many experimental verifications and simulation results. Statics and dynamics in soft-fingered grasping and manipulation are also formulated based on this new model. Mechanics and Control of Soft-fingered Manipulation uniquely investigates how soft fingertips with hard back plates enhance dexterity in grasping and manipulation, theoretically and experimentally. This approach reveals the differences between soft-fingered and rigid-fingered manipulation. Researchers involved in object manipulation by robotic hands, as well as in human dexterity in object manipulation, will find this text enlightening.
590 _aPara consulta fuera de la UANL se requiere clave de acceso remoto.
700 1 _aHirai, Shinichi.
_eautor
_9321779
710 2 _aSpringerLink (Servicio en línea)
_9299170
776 0 8 _iEdición impresa:
_z9781848009806
856 4 0 _uhttp://remoto.dgb.uanl.mx/login?url=http://dx.doi.org/10.1007/978-1-84800-981-3
_zConectar a Springer E-Books (Para consulta externa se requiere previa autentificación en Biblioteca Digital UANL)
942 _c14
999 _c290825
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