Physical Understanding of Dexterity

手被称为大脑的一个分支。手的灵巧性是由中枢神经系统的感觉-运动组织无意识地产生的一种智能行为。这种智慧隐藏在无意识中，但它是生物进化的结果。本研究的目的是通过物理原理来理解智能。本文从“几何约束下的任务建模”、“任务灵巧性分析”、“生物灵巧性分析”和“灵巧性综合”四个角度对研究结果进行了总结。“几何约束下的任务建模”：我们发现机器人在几何约束下的运动可以用电路表示，并建议将位置和力的混合控制作为直流系统进行分析。为了使虚拟现实能够更自然地实现，开发了一种孔内插钉任务仿真器。“对任务中更多灵巧性的分析”：我们分析了从接触任务中提取的基本任务的灵巧性，在测量了它们的物理参数之后。我们对灵巧性本质的研究甚至是通过评估人类在执行任务时的意图来实现的。生物灵巧性分析：“我们注意到阻抗的重要性，并从测量人类手臂的阻抗特性开始。在研究了阻抗的用途和限制后，我们从生物工程的角度阐明了灵巧性的本质。我们还广泛研究了多指手在任务中的能力测量，4。“灵巧性的综合”：我们引入了一个非线性结构，将传感器与反应行为连接起来，并将紧急运动的学习过程抽象为参数学习。对装配任务的自动规划进行了研究，并在几何、力学和数学分析的基础上实现了基本任务的自动规划。构建了运动、力和柔度的统一控制系统，并在快速并联机器人上成功实现。此外，我们提出了自然运动的概念，以实现更有效的运动。实现了多指手的尺度相关包络抓取。少

The hand is called a branch of the brain. Manual dexterity is an intelligent human behavior generated unconsciously with sensory-motor organization in the central nervous system. Such intelligence is hidden from unconsciousness but it is an outcome of biological evolution. The purpose of this research is to understand the intelligence with expressing it by physical principles. The results of this research are summarized from the four viewpoints of 'modeling of tasks under geometrical constrains,' 'analysis of dexterity in tasks,' 'analysis of dexterity in living things' and 'synthesis of dexterity' as follows :1. 'Modeling of tasks under geometrical constrains : 'We have found that the robot motion under geometrical constrains can be expressed by a circuit and have suggested that hybrid control of positions and forces can be analyzed as a DC system. A simulator of peg-in-hole insertion task have been developed in order for virtual reality to be implemented more naturally.2. 'Analysis o … More f dexterity in tasks : 'We have analyzed dexterity in elementary tasks, that have been extracted from tasks with contact, after making measurement of their physical parameters. Our approach to the essence of dexterity has been achieved by evaluating even human intention in performing the task.3. 'Analysis of dexterity in living things : 'We noted importance of impedance and started from measurement of impedance characteristics of human arms. We lighted the essence of dexterity from the standpoint of bioengineering after investigating usage and limits of impedance. We also studied extensively on measurement of abilities of multi-fingered hands in tasks,4. 'Synthesis of dexterity : 'We have introduced a nonlinear structure that connects sensors to reactive behaviors and have abstracted the learning process of emergent motions as parameter learning. We have studied automatic planning of assembly tasks and have succeeded in planning of elementary tasks automatically on the basis of geometrical, mechanical and mathematical analysis. Also, we have constructed a unified control system of motion, force and compliance and have implemented it successfully by a fast parallel robot. Moreover, we have proposed a concept of natural motion for implementing more effective motion. Scale-dependent enveloping grasp by a multi-fingered hand has been realized. Less