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Mechanics and Control of Soft-fingered Manipulation

Authors: Inoue, Takahiro, Hirai, Shinichi

  • The first book on soft-fingered grasping and manipulation

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eBook $129.00
price for USA (gross)
  • ISBN 978-1-84800-981-3
  • Digitally watermarked, DRM-free
  • Included format: PDF
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
Hardcover $169.00
price for USA
  • ISBN 978-1-84800-980-6
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
Softcover $169.00
price for USA
  • ISBN 978-1-84996-808-9
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
About this book

It is well known that the anatomy of our fingers, which consists of soft fingertips and hard fingernails, is well designed for grasping and manipulating objects. Mechanics and Control of Soft-fingered Manipulation introduces a new approach to the modeling of fingertips that have a soft pad and a hard back plate, similar to human fingers. Starting from the observation of soft-fingered grasping and manipulation, the book provides a parallel distributed model that takes into account tangential deformation of the fingertips. The model is supported with many experimental verifications and simulation results. Statics and dynamics in soft-fingered grasping and manipulation are also formulated based on this new model.

Mechanics and Control of Soft-fingered Manipulation uniquely investigates how soft fingertips with hard back plates enhance dexterity in grasping and manipulation, theoretically and experimentally. This approach reveals the differences between soft-fingered and rigid-fingered manipulation. Researchers involved in object manipulation by robotic hands, as well as in human dexterity in object manipulation, will find this text enlightening.

About the authors

Takahiro Inoue received his MSc and PhD degrees from Ritsumeikan University, Japan. He has received funding from the Japan Society of the Promotion of Science and his current research interests include soft-fingered manipulation, soft object modeling, and MEMS technology.

Shinichi Hirai received his BSc, MSc and doctoral degrees from Kyoto University. He is now a professor in the Department of Robotics at Ritsumeikan University. His previous positions include visiting researcher at Massachusetts Institute of Technology and assistant professor at Osaka University. His current research interests are the modeling and control of deformable structures, real-time computer vision, and soft-fingered manipulation.

Reviews

From the reviews:

“This research monograph elaborates on the contact mechanics and control strategies of a two-finger robotic hand having a pair of hemispherical soft fingertips on the distal position of each finger. The book is intended for researchers in robotics, automation and manufacturing, and biomechanics.” (IEEE Control Systems Magazine, Vol. 29, October, 2009)


Table of contents (12 chapters)

Buy this book

eBook $129.00
price for USA (gross)
  • ISBN 978-1-84800-981-3
  • Digitally watermarked, DRM-free
  • Included format: PDF
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
Hardcover $169.00
price for USA
  • ISBN 978-1-84800-980-6
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
Softcover $169.00
price for USA
  • ISBN 978-1-84996-808-9
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
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Bibliographic Information

Bibliographic Information
Book Title
Mechanics and Control of Soft-fingered Manipulation
Authors
Copyright
2009
Publisher
Springer-Verlag London
Copyright Holder
Springer-Verlag London
eBook ISBN
978-1-84800-981-3
DOI
10.1007/978-1-84800-981-3
Hardcover ISBN
978-1-84800-980-6
Softcover ISBN
978-1-84996-808-9
Edition Number
1
Number of Pages
XVIII, 245
Topics