In Hand Object Localization And Control Enabling Dexterous Manipulation With Robotic Hands

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In-Hand Object Localization and Control: Enabling Dexterous Manipulation with Robotic Hands

Martin Pfanne
In Hand Object Localization and Control Enabling Dexterous Manipulation with Robotic Hands Book PDF

Author : Martin Pfanne
Publisher : Springer Nature
Page : 213 pages
File Size : 42,9 Mb
Release : 2022-08-31
Category : Technology & Engineering
ISBN : 9783031069673

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In-Hand Object Localization and Control: Enabling Dexterous Manipulation with Robotic Hands by Martin Pfanne Pdf

This book introduces a novel model-based dexterous manipulation framework, which, thanks to its precision and versatility, significantly advances the capabilities of robotic hands compared to the previous state of the art. This is achieved by combining a novel grasp state estimation algorithm, the first to integrate information from tactile sensing, proprioception and vision, with an impedance-based in-hand object controller, which enables leading manipulation capabilities, including finger gaiting. The developed concept is implemented on one of the most advanced robotic manipulators, the DLR humanoid robot David, and evaluated in a range of challenging real-world manipulation scenarios and tasks. This book greatly benefits researchers in the field of robotics that study robotic hands and dexterous manipulation topics, as well as developers and engineers working on industrial automation applications involving grippers and robotic manipulators.

Underactuated Robotic Hands

Lionel Birglen,Thierry Laliberté,Clément M. Gosselin
Underactuated Robotic Hands Book PDF

Author : Lionel Birglen,Thierry Laliberté,Clément M. Gosselin
Publisher : Springer Science & Business Media
Page : 248 pages
File Size : 50,5 Mb
Release : 2008-02-11
Category : Technology & Engineering
ISBN : 9783540774587

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Underactuated Robotic Hands by Lionel Birglen,Thierry Laliberté,Clément M. Gosselin Pdf

This is a cornerstone publication in robotic grasping. The authors have developed an internationally recognized expertise in this area. Additionally, they designed and built several prototypes which attracted the attention of the scientific community. The purpose of this book is to summarize years of research and to present, in an attractive format, the expertise developed by the authors on a new technology for grasping which has achieved great success both in theory and in practice.

Robust Hand Gesture Recognition for Robotic Hand Control

Ankit Chaudhary
Robust Hand Gesture Recognition for Robotic Hand Control Book PDF

Author : Ankit Chaudhary
Publisher : Springer
Page : 96 pages
File Size : 48,7 Mb
Release : 2017-06-05
Category : Technology & Engineering
ISBN : 9789811047985

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Robust Hand Gesture Recognition for Robotic Hand Control by Ankit Chaudhary Pdf

This book focuses on light invariant bare hand gesture recognition while there is no restriction on the types of gestures. Observations and results have confirmed that this research work can be used to remotely control a robotic hand using hand gestures. The system developed here is also able to recognize hand gestures in different lighting conditions. The pre-processing is performed by developing an image-cropping algorithm that ensures only the area of interest is included in the segmented image. The segmented image is compared with a predefined gesture set which must be installed in the recognition system. These images are stored and feature vectors are extracted from them. These feature vectors are subsequently presented using an orientation histogram, which provides a view of the edges in the form of frequency. Thereby, if the same gesture is shown twice in different lighting intensities, both repetitions will map to the same gesture in the stored data. The mapping of the segmented image's orientation histogram is firstly done using the Euclidian distance method. Secondly, the supervised neural network is trained for the same, producing better recognition results. An approach to controlling electro-mechanical robotic hands using dynamic hand gestures is also presented using a robot simulator. Such robotic hands have applications in commercial, military or emergency operations where human life cannot be risked. For such applications, an artificial robotic hand is required to perform real-time operations. This robotic hand should be able to move its fingers in the same manner as a human hand. For this purpose, hand geometry parameters are obtained using a webcam and also using KINECT. The parameter detection is direction invariant in both methods. Once the hand parameters are obtained, the fingers’ angle information is obtained by performing a geometrical analysis. An artificial neural network is also implemented to calculate the angles. These two methods can be used with only one hand, either right or left. A separate method that is applicable to both hands simultaneously is also developed and fingers angles are calculated. The contents of this book will be useful for researchers and professional engineers working on robotic arm/hand systems.

From Robot to Human Grasping Simulation

Beatriz León,Antonio Morales,Joaquín Sancho-Bru
From Robot to Human Grasping Simulation Book PDF

Author : Beatriz León,Antonio Morales,Joaquín Sancho-Bru
Publisher : Springer Science & Business Media
Page : 261 pages
File Size : 52,6 Mb
Release : 2013-09-29
Category : Technology & Engineering
ISBN : 9783319018331

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From Robot to Human Grasping Simulation by Beatriz León,Antonio Morales,Joaquín Sancho-Bru Pdf

The human hand and its dexterity in grasping and manipulating objects are some of the hallmarks of the human species. For years, anatomic and biomechanical studies have deepened the understanding of the human hand’s functioning and, in parallel, the robotics community has been working on the design of robotic hands capable of manipulating objects with a performance similar to that of the human hand. However, although many researchers have partially studied various aspects, to date there has been no comprehensive characterization of the human hand’s function for grasping and manipulation of everyday life objects. This monograph explores the hypothesis that the confluence of both scientific fields, the biomechanical study of the human hand and the analysis of robotic manipulation of objects, would greatly benefit and advance both disciplines through simulation. Therefore, in this book, the current knowledge of robotics and biomechanics guides the design and implementation of a simulation framework focused on manipulation interactions that allows the study of the grasp through simulation. As a result, a valuable framework for the study of the grasp, with relevant applications in several fields such as robotics, biomechanics, ergonomics, rehabilitation and medicine, has been made available to these communities.

Human and Robot Hands

Matteo Bianchi,Alessandro Moscatelli
Human and Robot Hands Book PDF

Author : Matteo Bianchi,Alessandro Moscatelli
Publisher : Springer
Page : 283 pages
File Size : 43,9 Mb
Release : 2016-02-24
Category : Computers
ISBN : 9783319267067

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Human and Robot Hands by Matteo Bianchi,Alessandro Moscatelli Pdf

This book looks at the common problems both human and robotic hands encounter when controlling the large number of joints, actuators and sensors required to efficiently perform motor tasks such as object exploration, manipulation and grasping. The authors adopt an integrated approach to explore the control of the hand based on sensorimotor synergies that can be applied in both neuroscience and robotics. Hand synergies are based on goal-directed, combined muscle and kinematic activation leading to a reduction of the dimensionality of the motor and sensory space, presenting a highly effective solution for the fast and simplified design of artificial systems. Presented in two parts, the first part, Neuroscience, provides the theoretical and experimental foundations to describe the synergistic organization of the human hand. The second part, Robotics, Models and Sensing Tools, exploits the framework of hand synergies to better control and design robotic hands and haptic/sensing systems/tools, using a reduced number of control inputs/sensors, with the goal of pushing their effectiveness close to the natural one. Human and Robot Hands provides a valuable reference for students, researchers and designers who are interested in the study and design of the artificial hand.

A Mathematical Introduction to Robotic Manipulation

Richard M. Murray
A Mathematical Introduction to Robotic Manipulation Book PDF

Author : Richard M. Murray
Publisher : CRC Press
Page : 503 pages
File Size : 41,7 Mb
Release : 2017-12-14
Category : Technology & Engineering
ISBN : 9781351469791

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A Mathematical Introduction to Robotic Manipulation by Richard M. Murray Pdf

A Mathematical Introduction to Robotic Manipulation presents a mathematical formulation of the kinematics, dynamics, and control of robot manipulators. It uses an elegant set of mathematical tools that emphasizes the geometry of robot motion and allows a large class of robotic manipulation problems to be analyzed within a unified framework. The foundation of the book is a derivation of robot kinematics using the product of the exponentials formula. The authors explore the kinematics of open-chain manipulators and multifingered robot hands, present an analysis of the dynamics and control of robot systems, discuss the specification and control of internal forces and internal motions, and address the implications of the nonholonomic nature of rolling contact are addressed, as well. The wealth of information, numerous examples, and exercises make A Mathematical Introduction to Robotic Manipulation valuable as both a reference for robotics researchers and a text for students in advanced robotics courses.

The Human Hand as an Inspiration for Robot Hand Development

Ravi Balasubramanian,Veronica J. Santos
The Human Hand as an Inspiration for Robot Hand Development Book PDF

Author : Ravi Balasubramanian,Veronica J. Santos
Publisher : Springer
Page : 0 pages
File Size : 48,7 Mb
Release : 2016-08-27
Category : Technology & Engineering
ISBN : 3319380451

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The Human Hand as an Inspiration for Robot Hand Development by Ravi Balasubramanian,Veronica J. Santos Pdf

“The Human Hand as an Inspiration for Robot Hand Development” presents an edited collection of authoritative contributions in the area of robot hands. The results described in the volume are expected to lead to more robust, dependable, and inexpensive distributed systems such as those endowed with complex and advanced sensing, actuation, computation, and communication capabilities. The twenty-four chapters discuss the field of robotic grasping and manipulation viewed in light of the human hand’s capabilities and push the state-of-the-art in robot hand design and control. Topics discussed include human hand biomechanics, neural control, sensory feedback and perception, and robotic grasp and manipulation. This book will be useful for researchers from diverse areas such as robotics, biomechanics, neuroscience, and anthropologists.

Advanced Bimanual Manipulation

Bruno Siciliano
Advanced Bimanual Manipulation Book PDF

Author : Bruno Siciliano
Publisher : Springer
Page : 266 pages
File Size : 45,8 Mb
Release : 2012-04-10
Category : Technology & Engineering
ISBN : 9783642290411

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Advanced Bimanual Manipulation by Bruno Siciliano Pdf

Dexterous and autonomous manipulation is a key technology for the personal and service robots of the future. Advances in Bimanual Manipulation edited by Bruno Siciliano provides the robotics community with the most noticeable results of the four-year European project DEXMART (DEXterous and autonomous dual-arm hand robotic manipulation with sMART sensory-motor skills: A bridge from natural to artificial cognition). The volume covers a host of highly important topics in the field, concerned with modelling and learning of human manipulation skills, algorithms for task planning, human-robot interaction, and grasping, as well as hardware design of dexterous anthropomorphic hands. The results described in this five-chapter collection are believed to pave the way towards the development of robotic systems endowed with dexterous and human-aware dual-arm/hand manipulation skills for objects, operating with a high degree of autonomy in unstructured real-world environments.

Mapping Human Sensory-Motor Skills for Manipulation onto the Design and Control of Robots

Matteo Bianchi,Gionata Salvietti
Mapping Human Sensory Motor Skills for Manipulation onto the Design and Control of Robots Book PDF

Author : Matteo Bianchi,Gionata Salvietti
Publisher : Frontiers Media SA
Page : 134 pages
File Size : 40,5 Mb
Release : 2019-03-25
Category : Electronic
ISBN : 9782889457953

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Mapping Human Sensory-Motor Skills for Manipulation onto the Design and Control of Robots by Matteo Bianchi,Gionata Salvietti Pdf

Humans are endowed with extraordinary sensory-motor capabilities that enable a successful interaction with and exploration of the environment, as is the case of human manipulation. Understanding and modeling these capabilities represents an important topic not only for neuroscience but also for robotics in a mutual inspiration, both to inform the design and control of artificial systems and, at the same time, to increase knowledge on the biological side. Within this context, synergies -- i.e., goal-directed actions that constrain multi DOFs of the human body and can be defined at the kinematic, muscular, neural level -- have gained increasing attention as a general simplified approach to shape the development of simple and effective artificial devices. The execution of such purposeful sensory-motor primitives on the biological side leverages on the interplay of the sensory-motor control at central and peripheral level, and the interaction of the human body with the external world. This interaction is particularly important considering the new concept of robotic soft manipulation, i.e. soft, adaptable yet robust robotic hands that can deform with the external environment to multiply their grasping and manipulation capabilities. Under this regard, a preeminent role is reserved to touch, being that skin isour primary organ to shape our knowledge of the external world and, hence, to modify it, in interaction with the efferent parts. This Research Topic reports results on the mutual inspiration between neuroscience and robotics, and on how it is possible to translate neuroscientific findings on human manipulation into engineering guidelines for simplified systems able to take full advantage from the interaction and hence exploitation of environmental constraints for task accomplishment and knowledge acquisition.

Scholarpedia of Touch

Tony Prescott,Ehud Ahissar,Eugene Izhikevich
Scholarpedia of Touch Book PDF

Author : Tony Prescott,Ehud Ahissar,Eugene Izhikevich
Publisher : Springer
Page : 827 pages
File Size : 41,6 Mb
Release : 2015-11-21
Category : Computers
ISBN : 9789462391338

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Scholarpedia of Touch by Tony Prescott,Ehud Ahissar,Eugene Izhikevich Pdf

Scholarpedia’s Encyclopedia of Touch provides a comprehensive collection of peer-reviewed articles written by leading researchers, detailing our current scientific understanding of tactile sensing and its neural substrates in animals including humans. The encyclopedia allows ideas and insights to be shared between researchers working on different aspects of touch and in different species, including research in synthetic touch systems. In addition, this encyclopedia raises awareness of research in tactile sensing and increases scientific and public interest in the field. The articles address subjects including tactile control, whiskered robots, vibrissal coding, the molecular basis of touch, invertebrate mechanoreception, fingertip transducers and tactile sensing. All the articles in this encyclopedia provide in-depth and state-of-the-art scholarly treatment of the academic topics concerned, making it an excellent reference work for academics, professionals and students.

Fusion of Hard and Soft Control Strategies for the Robotic Hand

Cheng-Hung Chen,Desineni Subbaram Naidu
Fusion of Hard and Soft Control Strategies for the Robotic Hand Book PDF

Author : Cheng-Hung Chen,Desineni Subbaram Naidu
Publisher : John Wiley & Sons
Page : 256 pages
File Size : 49,8 Mb
Release : 2017-09-13
Category : Technology & Engineering
ISBN : 9781119273615

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Fusion of Hard and Soft Control Strategies for the Robotic Hand by Cheng-Hung Chen,Desineni Subbaram Naidu Pdf

An in-depth review of hybrid control techniques for smart prosthetic hand technology by two of the world’s pioneering experts in the field Long considered the stuff of science fiction, a prosthetic hand capable of fully replicating all of that appendage’s various functions is closer to becoming reality than ever before. This book provides a comprehensive report on exciting recent developments in hybrid control techniques—one of the most crucial hurdles to be overcome in creating smart prosthetic hands. Coauthored by two of the world’s foremost pioneering experts in the field, Fusion of Hard and Soft Control Strategies for Robotic Hand treats robotic hands for multiple applications. Itbegins withan overview of advances in main control techniques that have been made over the past decade before addressing the military context for affordable robotic hand technology with tactile and/or proprioceptive feedback for hand amputees. Kinematics, homogeneous transformations, inverse and differential kinematics, trajectory planning, and dynamic models of two-link thumb and three-link index finger are discussed in detail. The remainder of the book is devoted to the most promising soft computing techniques, particle swarm optimization techniques, and strategies combining hard and soft controls. In addition, the book: Includes a report on exciting new developments in prosthetic/robotic hand technology, with an emphasis on the fusion of hard and soft control strategies Covers both prosthetic and non-prosthetic hand designs for everything from routine human operations, robotic surgery, and repair and maintenance, to hazardous materials handling, space applications, explosives disposal, and more Provides a comprehensive overview of five-fingered robotic hand technology kinematics, dynamics, and control Features detailed coverage of important recent developments in neuroprosthetics Fusion of Hard and Soft Control Strategies for Robotic Hand is a must-read for researchers in control engineering, robotic engineering, biomedical sciences and engineering, and rehabilitation engineering.

Tactile Sensors for Robotic Applications

Salvatore Pirozzi
Tactile Sensors for Robotic Applications Book PDF

Author : Salvatore Pirozzi
Publisher : MDPI
Page : 248 pages
File Size : 54,7 Mb
Release : 2021-03-17
Category : Technology & Engineering
ISBN : 9783036504247

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Tactile Sensors for Robotic Applications by Salvatore Pirozzi Pdf

The book covers different aspects: - Innovative technologies for tactile sensors development - Tactile data interpretation for control purposes - Alternative sensing technologies - Multi-sensor systems for grasping and manipulation - Sensing solutions for impaired people

Dextrous Robot Hands

Thea Iberall
Dextrous Robot Hands Book PDF

Author : Thea Iberall
Publisher : Springer
Page : 370 pages
File Size : 40,8 Mb
Release : 1990
Category : Computers
ISBN : UOM:39015016979620

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Dextrous Robot Hands by Thea Iberall Pdf

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.

Robotic Grasping and Fine Manipulation

M. R. Cutkosky
Robotic Grasping and Fine Manipulation Book PDF

Author : M. R. Cutkosky
Publisher : Springer Science & Business Media
Page : 190 pages
File Size : 45,5 Mb
Release : 2012-12-06
Category : Technology & Engineering
ISBN : 9781468468915

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Robotic Grasping and Fine Manipulation by M. R. Cutkosky Pdf

When a person picks up a metal part and clamps it in the chuck of a lathe, he begins with his arm, proceeds with his wrist and finishes with his fingers. The arm brings the part near the chuck. The wrist positions the part, giving it the proper orientation to slide in. After the part is inserted, the wrist and fingers make tiny corrections to ensure that it is correctly seated. Today's robot attempting the same operations is at a grave disadvantage if it has to make all motions with the arm. The following work investigates the use of robotic wrists and hands to help industrial robots perform the fine motions needed in a metal working cell. Chapters 1 and 2 are an introduction to the field and a review of previous investigations on related subjects. Little work has been done on grasping and fine manipulation with a robot hand or wrist, but the related subjects of robot arm dynamics and control have an extensive literature.

Control Theory of Multi-fingered Hands

Suguru Arimoto
Control Theory of Multi fingered Hands Book PDF

Author : Suguru Arimoto
Publisher : Springer Science & Business Media
Page : 271 pages
File Size : 42,5 Mb
Release : 2008-02-15
Category : Technology & Engineering
ISBN : 9781848000636

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Control Theory of Multi-fingered Hands by Suguru Arimoto Pdf

Here you’ll find a comprehensive insight into the intelligence and dexterity of robotic multi-fingered hands from both the physical and control-theoretic viewpoints. It focuses on the problem of how to control dexterous movements of fingers interacting with an object in the execution of everyday tasks. It moves on to clarify what kinds of sensory-motor coordinated signals are necessary and sufficient for realizing stable grasping as well as object manipulation.