Human Inspired Dexterity in Robotic Manipulation / edited by Tetsuyou Watanabe, Kensuke Harada, Mitsunori Tada.

Format:

Book

Contributor:

Watanabe, Tetsuyou, editor.

Harada, Kensuke, editor.

Tada, Mitsunori, editor.

Language:

English

Subjects (All):

Robots--Control systems.

Robots.

Robotics--Human factors.

Robotics.

Physical Description:

x, 207 pages : illustrations ; 23 cm

Place of Publication:

London : Academic Press, an imprint of Elsevier, [2018]

Contents:

1 Background: Dexterity in Robotic Manipulation by Imitating Human Beings p. 1 / Tetsuyou Watanabe

1.2 Complemental Information p. 3

Section 1 p. 9

2 Digital Hand: Interface Between the Robot Hand and Human Hand p. 11 / Makiko Kouchi and Mitsunori Tada

2.2 Structure of the Human Hand and Digital Hand p. 12

2.3 Digital-Hand Model With Size Variations p. 17

2.4 Analysis by Digital-Hand Model p. 20

3 Sensorimotor Learning of Dexterous Manipulation p. 27 / Qiushi Fu and Marco Santello

3.2 Learning Manipulation: Theoretical and Experimental Evidence p. 29

3.3 Lessons Learned From Human Data and Potential Applications to Robotic Dexterous Manipulation p. 48

4 Intuitive Control in Robotic Manipulation p. 53 / Jumpei Arata

4.2 Multisensory Integration and Illusion p. 54

4.3 Robotically Enhanced Illusion p. 55

4.4 Multisensory Illusion on Maste-Slave System p. 58

5 Modeling and Human Performance in Manipulating Parallel Flexible Objects p. 61 / Mikhail Svinin and Igor Goncharenko and Victor Kryssanov and Motoji Yamamoto

5.2 Minimum Hand-Jerk Model p. 63

5.3 Minimum Hand-Force-Change Model p. 68

5.4 Hand Mass Identification p. 70

Section 2 p. 85

6 Approaching Human Hand Dexterity Through Highly Biomimetic Design p. 87 / Zhe Xu

6.2 Related Work and Motivation p. 89

6.3 The Important Anatomy of the Human Hand p. 91

6.4 Development of the Highly Biomimetic Robotic Hand p. 101

6.5 Performance of the Biomimetic Robotic Hand p. 107

7 Hand Design-Hybrid Soft and Hard Structures Based on Human Fingertips for Dexterity p. 115 / Tetsuyou Watanabe

7.2 Fluid Fingertip p. 116

7.3 Prevention of Fracture on Ductile and Fragile Objects (Soft Tofu) Based on Pleasure Profile p. 125

7.4 Versatile Grasping by the Fluid-fingertip Embedded Gripper p. 136

8 Dynamic Manipulation Based on Thumb Opposability: Passivity-Based Blind Grasping and Manipulation p. 149 / Ryuta Ozawa and Ji-Hun Bae

8.2 Structure of Hand Control Systems p. 150

8.3 Modeling and Dynamic Control of Precision Grasp p. 152

8.4 Supervisory Control and Autonomy of Grasp and Manipulation p. 159

9 A Grasping and Manipulation Scheme That Is Robust Against Time Delays of Sensing Information: An Application of a Controller Based on Finger-Thumb Opposability p. 165 / Kenji Tahara and Akihiro Kawamura

9.2 Multifingered Hand-Ann System Grasping an Object p. 167

9.3 Virtual-Object Frame p. 168

9.4 Control Law Based on Finger-Thumb Opposability p. 170

9.5 Numerical Simulation p. 174

10 Planning Dexterous Dual-Arm Manipulation p. 187 / Kensuke Harada

10.3 Manipulation Planner p. 191

11 Prospects of Further Dexterity in Robotic Manipulation by Imitating Human Beings p. 201 / Tetsuyou Watanabe.

Notes:

Includes bibliographical references and index.

ISBN:

0128133856

9780128133859

OCLC:

1004368710