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130626 ||| eng |
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|a 9781848000636
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| 100 |
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|a Arimoto, Suguru
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| 245 |
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|a Control Theory of Multi-fingered Hands
|h Elektronische Ressource
|b A Modelling and Analytical–Mechanics Approach for Dexterity and Intelligence
|c by Suguru Arimoto
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| 250 |
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|a 1st ed. 2008
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| 260 |
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|a London
|b Springer London
|c 2008, 2008
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| 300 |
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|a IX, 271 p
|b online resource
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| 505 |
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|a Characterisations of Human Hands -- Stability of Grasping in a Static or Dynamic Sense -- Testbed Problems to Control a 2-D Object Through Rolling Contact -- Two-dimensional Grasping by a Pair of Rigid Fingers -- Three-dimensional Grasping by a Pair of Rigid Fingers -- Dexterity and Control for Stable Grasping by Soft Fingers
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| 653 |
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|a Control, Robotics, Automation
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| 653 |
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|a Artificial Intelligence
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| 653 |
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|a Control engineering
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| 653 |
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|a Artificial intelligence
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| 653 |
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|a Robotics
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| 653 |
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|a Automation
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| 041 |
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7 |
|a eng
|2 ISO 639-2
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| 989 |
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|b Springer
|a Springer eBooks 2005-
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| 028 |
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|a 10.1007/978-1-84800-063-6
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| 856 |
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|u https://doi.org/10.1007/978-1-84800-063-6?nosfx=y
|x Verlag
|3 Volltext
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| 082 |
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|a 629.8
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| 520 |
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|a 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
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