By Haruhisa Kawasaki
Robot palms and Multi-Fingered Haptic Interfaces is a monograph targeting the comparability of human fingers with robotic arms, the basics in the back of designing and growing the latter, and robotics' most modern developments in haptic technology.
This paintings discusses the layout of robotic fingers; touch types at greedy; kinematic versions of constraint; dynamic versions of the multi-fingered hand; the steadiness theorem of non-linear keep watch over structures; robotic hand regulate; layout and regulate of multi-fingered haptic interfaces; software platforms utilizing multi-fingered haptic interfaces; and telecontrol of robotic arms utilizing a multi-fingered haptic interface.
Robot palms and Multi-Fingered Haptic Interfaces is meant mostly for readers who've a starting place in uncomplicated robotic arm engineering. to appreciate robotic hand manipulation, readers needs to examine kinematic constraint types of hands, hand dynamics with constraints, balance theorems of non-linear keep watch over, and multi-fingered hand keep watch over — this publication will profit readers' realizing of this complete variety of matters relating to robotic hand manipulation.
Readership: educational undefined, Researchers, Graduate and Post-Graduate Engineering scholars focusing on robotics.
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Additional info for Robot Hands and Multi-Fingered Haptic Interfaces: Fundamentals and Applications
Therefore, the relative linear velocity and relative angular velocity are deﬁned as v S = v F C −v C , where v F C ∈ R6 is the linear and angular velocity at the ﬁnger contact point and v C ∈ R6 is the linear and angular velocity at the object contact point. At this time, the linear and angular velocity expressed with respect to the contact point coordinate system can be written by, C vS = (C R)v S . 8) First, consider the frictionless point contact model. In this case, the relative linear velocity in the normal direction always becomes zero at the contact point; however, the relative angular velocity and relative linear velocity of other directions may take any value.
By a planar four-bar linkage mechanism, as shown in Fig. 8 (a); here, ai is the length of the ﬁnger’s second segment, ri3 and ri4 are the link radii of the third and fourth joints, qi30 and qi40 are the initial angles of the planar four-bar linkage mechanism, li is the length of the connection link, and the suﬃx i refers to the i-th ﬁnger. The relation between the third and fourth joint angles is made almost linear by setting proper link parameters, as shown in Fig. 8 (b). 3. Configuration of human hand and opposability of the thumb In an illustration of three conﬁgurations of a human hand by Isobe (1985) (see Fig.
Fixing the haptic interface to the hand can give the operator an oppressive feeling, since the interface must be ﬁrmly bound. , 2011) (Fig. 14). The HIRO III can present 3D forces to the operator’s ﬁve ﬁngertips. 2. The HIRO III is commercially available under the name Hand HIRO. The HIRO consists of an interface arm, a haptic hand with ﬁve haptic ﬁngers, and a controller; it can present a three-directional force at each of the ﬁve ﬁngertips. The user places the HIRO opposite to the hand, and the haptic ﬁngertips are connected to the human ﬁngertips with ﬁnger holders and passive spherical magnet joints.
Robot Hands and Multi-Fingered Haptic Interfaces: Fundamentals and Applications by Haruhisa Kawasaki