Dextrous Robot Hands

1. Front Matter

   Pages i-viii

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2. Lessons Learned from Human Hand Studies

   1. Front Matter

      Pages 1-4

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   2. Human Grasp Choice and Robotic Grasp Analysis

      • Mark R. Cutkosky, Robert D. Howe

      Pages 5-31

   3. Opposition Space and Human Prehension

      • Thea Iberall, Christine L. MacKenzie

      Pages 32-54

   4. Coordination in Normal and Prosthetic Reaching

      • Alan M. Wing

      Pages 55-65

   5. Intelligent Exploration by the Human Hand

      • Roberta L. Klatzky, Susan Lederman

      Pages 66-81

3. Dextrous Hand Control Architectures

   1. Front Matter

      Pages 83-86

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   2. A Task-Oriented Dextrous Manipulation Architecture

      • Subramanian T. Venkataraman, Damian M. Lyons

      Pages 87-116

   3. CONDOR: A Computational Architecture for Robots

      • Sundar Narasimhan, David M. Siegel, John M. Hollerbach

      Pages 117-135

   4. Control Architecture for the Belgrade/USC Hand

      • George A. Bekey, Rajko Tomovic, Ilija Zeljkovic

      Pages 136-149

4. Lessons Learned from Dextrous Robot Hands

   1. Front Matter

      Pages 151-153

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   2. Issues in Dextrous Robot Hands

      • Zexiang Li, Shankar Sastry

      Pages 154-186

   3. Analysis of Multi-fingered Grasping and Manipulation

      • Tsuneo Yoshikawa, Kiyoshi Nagai

      Pages 187-208

   4. Tactile Sensing for Shape Interpretation

      • Ronald S. Fearing

      Pages 209-238

   5. Tactile Sensing and Control for the Utah/MIT Hand

      • Ian D. McCammon, Steve C. Jacobsen

      Pages 239-266

   6. A New Tactile Sensor Design based on Suspension-Shells

      • Tokuji Okada

      Pages 267-285

5. Panel Discussion

   1. Panel Discussion

      • Subramanian T. Venkataraman, Thea Iberall

      Pages 287-298

6. Back Matter

   Pages 299-345

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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 level control of robotic hands, researchers are up against fundamental problems in developing algorithms for real-time computations in multi-sensory processing and motor control. The aim of this book is to explore parallels in sensorimotor integration in dextrous robot and human hands, addressing the basic question of how the next generation of dextrous hands should evolve. By bringing together experimental psychologists, kinesiologists, computer scientists, electrical engineers, and mechanical engineers, the book covers topics that range from human hand usage in prehension and exploration, to the design and use of robotic sensors and multi-fingered hands, and to control and computational architectures for dextrous hand usage. While the ultimate goal of capturing human hand versatility remains elusive, this book makes an important contribution to the design and control of future dextrous robot hands through a simple underlying message: a topic as complex as dextrous manipulation would best be addressed by collaborative, interdisciplinary research, combining high level and low level views, drawing parallels between human studies and analytic approaches, and integrating sensory data with motor commands. As seen in this text, success has been made through the establishment of such collaborative efforts. The future will hold up to expectations only as researchers become aware of advances in parallel fields and as a common vocabulary emerges from integrated perceptions about manipulation.

• Motor
• Normal
• algorithms
• computer
• control
• perception
• robot
• sensing
• sensor
• sensors
• Engineering Economics

• Jet Propulsion Laboratory, Pasadena, USA

  Subramanian T. Venkataraman

• Center for Neural Engineering, Department of Computer Science, University of Southern California, Los Angeles, USA

  Thea Iberall

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