This book looks at the common problems both human and robotic hands encounter when controlling the large number of joints, actuators and sensors required to efficiently perform motor tasks such as object exploration, manipulation and grasping. The authors adopt an integrated approach to explore the control of the hand based on sensorimotor synergies that can be applied in both neuroscience and robotics. Hand synergies are based on goal-directed, combined muscle and kinematic activation leading to a reduction of the dimensionality of the motor and sensory space, presenting a highly effective solution for the fast and simplified design of artificial systems.
Presented in two parts, the first part, Neuroscience, provides the theoretical and experimental foundations to describe the synergistic organization of the human hand. The second part, Robotics, Models and Sensing Tools, exploits the framework of hand synergies to better control and design robotic hands and haptic/sensing systems/tools, using a reduced number of control inputs/sensors, with the goal of pushing their effectiveness close to the natural one.
Human and Robot Hands provides a valuable reference for students, researchers and designers who are interested in the study and design of the artificial hand.
This book looks at the common problems both human and robotic hands encounter when controlling the large number of joints, actuators and sensors required to efficiently perform motor tasks such as object exploration, manipulation and grasping. The authors adopt an integrated approach to explore the control of the hand based on sensorimotor synergies that can be applied in both neuroscience and robotics. Hand synergies are based on goal-directed, combined muscle and kinematic activation leading to a reduction of the dimensionality of the motor and sensory space, presenting a highly effective solution for the fast and simplified design of artificial systems.
Presented in two parts, the first part, Neuroscience, provides the theoretical and experimental foundations to describe the synergistic organization of the human hand. The second part, Robotics, Models and Sensing Tools, exploits the framework of hand synergies to better control and design robotic hands and haptic/sensing systems/tools, using a reduced number of control inputs/sensors, with the goal of pushing their effectiveness close to the natural one.
Human and Robot Hands provides a valuable reference for students, researchers and designers who are interested in the study and design of the artificial hand.
"The Human Hand as an Inspiration for Robot Hand Development" presents an edited collection of authoritative contributions in the area of robot hands. The results described in the volume are expected...
The human hand is a complex apparatus. Losing a hand is an extremely traumatic event that changes forever one's life. To replace the human hand with a mechanical analogue is therefore difficult. It...
Manipulation using dextrous robot hands has been an exciting yet frustrating research topic for the last several years. While significant progress has occurred in the design, construction, and low...
Grasping vs. Manipulating.- Kinetostatic Analysis of Robotic Fingers.- Grasp Stability of Underactuated Fingers.- Optimal Design of Underactuated Fingers.- Underactuation between the Fingers.- Design...
A synthesis of biomechanics and neural control that draws on recent advances in robotics to address control problems solved by the human sensorimotor system.This book proposes a transdisciplinary...
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