Mechanics and Control of Soft-fingered Manipulation
Mechanics and Control of Soft-fingered Manipulation
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DOI：
10.1007/978-1-84800-981-3
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发表时间：
2008-12
期刊：
影响因子：
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通讯作者：
T. Inoue;平井 慎一
中科院分区：
文献类型：
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作者：
T. Inoue;平井 慎一
众所周知，我们手指的解剖结构由柔软的指尖和坚硬的指甲组成，是为抓握和操纵物体而设计的。软指操作的力学和控制介绍了一种新的方法来建模的指尖，有一个软垫和一个硬背板，类似于人类的手指。从观察软指抓取和操纵开始，该书提供了一个考虑指尖切向变形的平行分布模型。该模型得到了大量实验验证和仿真结果的支持。基于这个新模型，还建立了软指抓取和操纵的静力学和动力学方程。软指操作的力学和控制独特地研究了软指尖与硬背板如何增强抓握和操作的灵活性，理论和实验。这种方法揭示了软指和硬指操作之间的差异。研究人员参与对象操纵机器人的手，以及在人类灵巧的对象操纵，将发现这一文本启发。
It 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.