Control Theory of Multi-fingered Hands: A Modelling and AnalyticalMechanics Approach for Dexterity and Intelligence
暫譯: 多指手的控制理論:靈巧性與智能的建模與分析力學方法
Suguru Arimoto
- 出版商: Springer
- 出版日期: 2007-12-17
- 售價: $4,600
- 貴賓價: 9.5 折 $4,370
- 語言: 英文
- 頁數: 271
- 裝訂: Hardcover
- ISBN: 1848000626
- ISBN-13: 9781848000629
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商品描述
Description
The hand is an agency of the brain; it reflects activities of the brain and thereby can be seen as a mirror to the mind. The dexterity of the hand has been investigated widely in developmental psychology and in anthropology. Since robotics launched in the mid-1970s, numerous multi-fingered hands mimicking the human hand have been designed and made in a number of universities and research institutes, in addition to sophisticated prosthetic hands with plural fingers.
Control Theory of Multi-fingered Hands presents a comprehensive insight into the intelligence and dexterity of robotic multi-fingered hands from both the physical and control-theoretic viewpoints. The book:
- focuses on the problem of how to control dexterous movements of fingers interacting with an object in the execution of everyday tasks;
- clarifies what kinds of sensory-motor coordinated signals are necessary and sufficient for realising stable grasping and/or object manipulation, in particular, the synergistic choices of control gains in co-activation signals for finger muscles and tendons crucial in realising secure pinching motions;
- derives a mathematical model of the dynamics of a complicated mechanism of multiple fingers with multiple joints physically interacting; and,
- considers the problem of how to recreate the function of "blind grasping".
Control Theory of Multi-fingered Hands will be a useful reference for postgraduate students and researchers in this field, as well as engineers and roboticists.
商品描述(中文翻譯)
**描述**
手是大腦的代理機構;它反映了大腦的活動,因此可以被視為心智的鏡子。手的靈巧性在發展心理學和人類學中得到了廣泛的研究。自1970年代中期機器人技術啟動以來,許多模仿人手的多指手在多所大學和研究機構中被設計和製造,此外還有多指的高級義肢手。
《多指手的控制理論》從物理和控制理論的角度,全面深入地探討了機器人多指手的智能和靈巧性。本書:
- 專注於如何控制手指在執行日常任務時與物體互動的靈巧動作的問題;
- 闡明了實現穩定抓握和/或物體操作所需的感覺-運動協調信號的種類,特別是在共同激活信號中對手指肌肉和肌腱的控制增益的協同選擇,這對於實現安全的夾持動作至關重要;
- 推導出一個多指、多關節的複雜機構的動力學數學模型,這些指頭在物理上相互作用;
- 考慮如何重建“盲抓”的功能問題。
《多指手的控制理論》將成為該領域研究生和研究人員,以及工程師和機器人專家的有用參考資料。