Human Inspired Dexterity in Robotic Manipulation

"Human Inspired Dexterity in Robotic Manipulation provides up-to-date research and information on how to imitate humans and realize robotic manipulation. Approaches from both software and hardware viewpoints are shown, with sections discussing, and highlighting, case studies that demonstrate how human manipulation techniques or skills can be transferred to robotic manipulation. From the hardware viewpoint, the book discusses important human hand structures that are key for robotic hand design and how they should be embedded for dexterous manipulation. This book is ideal for the research communities in robotics, mechatronics and automation. Investigates current research direction in robotic manipulation shows how human manipulation techniques and skills can be transferred to robotic manipulation identifies key human hand structures for robotic hand design and how they should be embedded in the robotic hand for dexterous manipulation"--

Front Cover; Human Inspired Dexterity in Robotic Manipulation; Copyright; Contents; Contributors; Chapter 1: Background: Dexterity in Robotic Manipulation by Imitating Human Beings; 1.1. Background; 1.2. Complemental Information; 1.2.1. Statistically Significant Difference; 1.2.2. State Space Representation; 1.2.3. Mechanical Impedance; 1.2.4. Fundamental Grasping Style; 1.2.5. Kinematics and Statics of Robots; 1.2.6. Dynamics of Robots; References; Section 1; Chapter 2: Digital Hand: Interface Between the Robot Hand and Human Hand; 2.1. Introduction

2.2. Structure of the Human Hand and Digital Hand2.2.1. Anatomy of the Human Hand; 2.2.2. Link and Joint of the Digital Hand; 2.2.3. Surface Mesh of a Digital Hand; 2.3. Digital-Hand Model With Size Variations; 2.3.1. Individual Digital-Hand Model; 2.3.2. Representative Digital Hand Models; 2.4. Analysis by Digital-Hand Model; 2.4.1. Motion Analysis and Posture Synthesis; 2.4.2. Mechanical Analysis; 2.5. Conclusion; References; Chapter 3: Sensorimotor Learning of Dexterous Manipulation; 3.1. Introduction; 3.2. Learning Manipulation: Theoretical and Experimental Evidence; 3.2.1. Background

3.2.2. Interaction Between Multiple Sensorim…