Mechanics and Control of Soft-fingered Manipulation PDF Download

Are you looking for read ebook online? Search for your book and save it on your Kindle device, PC, phones or tablets. Download Mechanics and Control of Soft-fingered Manipulation PDF full book. Access full book title Mechanics and Control of Soft-fingered Manipulation by Takahiro Inoue. Download full books in PDF and EPUB format.

Mechanics and Control of Soft-fingered Manipulation

Mechanics and Control of Soft-fingered Manipulation PDF Author: Takahiro Inoue
Publisher: Springer Science & Business Media
ISBN: 184800981X
Category : Technology & Engineering
Languages : en
Pages : 245

Get Book Here

Book Description
“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. The book uniquely investigates how soft fingertips with hard back plates enhance dexterity in grasping and manipulation, theoretically and experimentally, revealing 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.