The Human Hand As An Inspiration For Robot Hand Development

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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 : 572 pages
File Size : 53,9 Mb
Release : 2014-01-03
Category : Technology & Engineering
ISBN : 9783319030173

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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.

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 : 46,9 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 Inspired Dexterity in Robotic Manipulation

Tetsuyou Watanabe,Kensuke Harada,Mitsunori Tada
Human Inspired Dexterity in Robotic Manipulation Book PDF

Author : Tetsuyou Watanabe,Kensuke Harada,Mitsunori Tada
Publisher : Academic Press
Page : 218 pages
File Size : 51,7 Mb
Release : 2018-06-26
Category : Technology & Engineering
ISBN : 9780128133965

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Human Inspired Dexterity in Robotic Manipulation by Tetsuyou Watanabe,Kensuke Harada,Mitsunori Tada Pdf

Human Inspired Dexterity in Robotic Manipulation provides up-to-date research and information on how to imitate humans and realize robotic manipulation. Approaches from both software and hardware viewpoints are shown, with sections discussing, and highlighting, case studies that demonstrate how human manipulation techniques or skills can be transferred to robotic manipulation. From the hardware viewpoint, the book discusses important human hand structures that are key for robotic hand design and how they should be embedded for dexterous manipulation. This book is ideal for the research communities in robotics, mechatronics and automation. Investigates current research direction in robotic manipulation Shows how human manipulation techniques and skills can be transferred to robotic manipulation Identifies key human hand structures for robotic hand design and how they should be embedded in the robotic hand for dexterous manipulation

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 : 43,9 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.

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 : 48,8 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.

The “Hand-eye-brain” System of Intelligent Robot

Hong Qiao,Chao Ma,Rui Li
The Hand eye brain System of Intelligent Robot Book PDF

Author : Hong Qiao,Chao Ma,Rui Li
Publisher : Springer Nature
Page : 178 pages
File Size : 45,8 Mb
Release : 2021-08-03
Category : Technology & Engineering
ISBN : 9789811635755

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The “Hand-eye-brain” System of Intelligent Robot by Hong Qiao,Chao Ma,Rui Li Pdf

This book reports the new results of intelligent robot with hand-eye-brain, from the interdisciplinary perspective of information science and neuroscience. It collects novel research ideas on attractive region in environment (ARIE), intrinsic variable preserving manifold learning (IVPML) and biologically inspired visual congnition, which are theoretically important but challenging to develop the intelligent robot. Furthermore, the book offers new thoughts on the possible future development of human-inspired robotics, with vivid illustrations. The book is useful for researchers, R&D engineers and graduate students working on intelligent robots.

Robot Hands And Multi-fingered Haptic Interfaces: Fundamentals And Applications

Haruhisa Kawasaki
Robot Hands And Multi fingered Haptic Interfaces Fundamentals And Applications Book PDF

Author : Haruhisa Kawasaki
Publisher : World Scientific
Page : 352 pages
File Size : 50,5 Mb
Release : 2015-03-04
Category : Technology & Engineering
ISBN : 9789814635622

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Robot Hands And Multi-fingered Haptic Interfaces: Fundamentals And Applications by Haruhisa Kawasaki Pdf

Robot Hands and Multi-Fingered Haptic Interfaces is a monograph focusing on the comparison of human hands with robot hands, the fundamentals behind designing and creating the latter, and robotics' latest advancements in haptic technology.This work discusses the design of robot hands; contact models at grasping; kinematic models of constraint; dynamic models of the multi-fingered hand; the stability theorem of non-linear control systems; robot hand control; design and control of multi-fingered haptic interfaces; application systems using multi-fingered haptic interfaces; and telecontrol of robot hands using a multi-fingered haptic interface.Robot Hands and Multi-Fingered Haptic Interfaces is intended mainly for readers who have a foundation in basic robot arm engineering. To understand robot hand manipulation, readers must study kinematic constraint models of fingers, hand dynamics with constraints, stability theorems of non-linear control, and multi-fingered hand control — this book will benefit readers' understanding of this full range of issues regarding robot hand manipulation.

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 : 45,6 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.

Approaching Human Performance

Markus Grebenstein
Approaching Human Performance Book PDF

Author : Markus Grebenstein
Publisher : Springer
Page : 209 pages
File Size : 47,8 Mb
Release : 2014-01-24
Category : Technology & Engineering
ISBN : 9783319035932

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Approaching Human Performance by Markus Grebenstein Pdf

Humanoid robotics have made remarkable progress since the dawn of robotics. So why don't we have humanoid robot assistants in day-to-day life yet? This book analyzes the keys to building a successful humanoid robot for field robotics, where collisions become an unavoidable part of the game. The author argues that the design goal should be real anthropomorphism, as opposed to mere human-like appearance. He deduces three major characteristics to aim for when designing a humanoid robot, particularly robot hands: - Robustness against impacts - Fast dynamics - Human-like grasping and manipulation performance Instead of blindly copying human anatomy, this book opts for a holistic design methodology. It analyzes human hands and existing robot hands to elucidate the important functionalities that are the building blocks toward these necessary characteristics. They are the keys to designing an anthropomorphic robot hand, as illustrated in the high performance anthropomorphic Awiwi Hand presented in this book. This is not only a handbook for robot hand designers. It gives a comprehensive survey and analysis of the state of the art in robot hands as well as the human anatomy. It is also aimed at researchers and roboticists interested in the underlying functionalities of hands, grasping and manipulation. The methodology of functional abstraction is not limited to robot hands, it can also help realize a new generation of humanoid robots to accommodate a broader spectrum of the needs of human society.

The Hand and the Brain

Göran Lundborg
The Hand and the Brain Book PDF

Author : Göran Lundborg
Publisher : Springer Science & Business Media
Page : 197 pages
File Size : 42,7 Mb
Release : 2013-09-11
Category : Medical
ISBN : 9781447153344

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The Hand and the Brain by Göran Lundborg Pdf

This book presents the human hand from an overall perspective – from the first appearance of hand-like structures in the fins of big fishes living millions of years ago to today ́s and the future’s mind-controlled artificial hands. Much focus is given to the extremely well-developed sensation of the hand, its importance and its linkage to brain plasticity mechanisms. How can active hands rapidly expand their representational area in the brain? How can the sense of touch substitute for other deficient senses, such as in Braille reading where hand sensation substitutes for missing vision? How can the mere observation of active hands, belonging to others, activate the hand area in the observer’s own brain and what is the importance of this phenomenon for learning by imitation and the understanding of other peoples’ actions, gestures and body language? Why are some of us left-handed and what are the consequences from cultural and physiological viewpoints? Why does phantom sensation and phantom pain occur after hand amputation, and what can we do about it? Why can salamanders regenerate new extremities while humans can not? Is it possible to transplant a hand from a diseased individual to an amputee? Can artificial robotic hands be controlled by our mind, and can they ever gain the role of a normal hand? What role did the hand and the brain play during evolution in tool construction and development of language and cognitive functions? The hand has a high symbolic value in religion, literature and art and our hands have a key role in gestures and body language. The Hand and the Brain is aimed at anybody with interest in life sciences, in the medical field especially hand surgeons, orthopaedic specialists, neurologists and general practitioners, and those working in rehabilitation medicine and pain treatment. The original Swedish version of The Hand and the Brain has also become very popular among physiotherapists, occupational therapists, psychologists, and among a general population with an interest in science.

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 : 40,8 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.

Springer Handbook of Robotics

Bruno Siciliano,Oussama Khatib
Springer Handbook of Robotics Book PDF

Author : Bruno Siciliano,Oussama Khatib
Publisher : Springer
Page : 2259 pages
File Size : 51,8 Mb
Release : 2016-07-27
Category : Technology & Engineering
ISBN : 9783319325521

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Springer Handbook of Robotics by Bruno Siciliano,Oussama Khatib Pdf

The second edition of this handbook provides a state-of-the-art overview on the various aspects in the rapidly developing field of robotics. Reaching for the human frontier, robotics is vigorously engaged in the growing challenges of new emerging domains. Interacting, exploring, and working with humans, the new generation of robots will increasingly touch people and their lives. The credible prospect of practical robots among humans is the result of the scientific endeavour of a half a century of robotic developments that established robotics as a modern scientific discipline. The ongoing vibrant expansion and strong growth of the field during the last decade has fueled this second edition of the Springer Handbook of Robotics. The first edition of the handbook soon became a landmark in robotics publishing and won the American Association of Publishers PROSE Award for Excellence in Physical Sciences & Mathematics as well as the organization’s Award for Engineering & Technology. The second edition of the handbook, edited by two internationally renowned scientists with the support of an outstanding team of seven part editors and more than 200 authors, continues to be an authoritative reference for robotics researchers, newcomers to the field, and scholars from related disciplines. The contents have been restructured to achieve four main objectives: the enlargement of foundational topics for robotics, the enlightenment of design of various types of robotic systems, the extension of the treatment on robots moving in the environment, and the enrichment of advanced robotics applications. Further to an extensive update, fifteen new chapters have been introduced on emerging topics, and a new generation of authors have joined the handbook’s team. A novel addition to the second edition is a comprehensive collection of multimedia references to more than 700 videos, which bring valuable insight into the contents. The videos can be viewed directly augmented into the text with a smartphone or tablet using a unique and specially designed app. Springer Handbook of Robotics Multimedia Extension Portal: http://handbookofrobotics.org/

Tactile Sensors for Robotic Applications

Salvatore Pirozzi
Tactile Sensors for Robotic Applications Book PDF

Author : Salvatore Pirozzi
Publisher : MDPI
Page : 248 pages
File Size : 45,6 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

Tactile Sensing, Skill Learning, and Robotic Dexterous Manipulation

Qiang Li,Shan Luo,Zhaopeng Chen,Chenguang Yang,Jianwei Zhang
Tactile Sensing Skill Learning and Robotic Dexterous Manipulation Book PDF

Author : Qiang Li,Shan Luo,Zhaopeng Chen,Chenguang Yang,Jianwei Zhang
Publisher : Academic Press
Page : 374 pages
File Size : 46,8 Mb
Release : 2022-04-02
Category : Computers
ISBN : 9780323904179

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Tactile Sensing, Skill Learning, and Robotic Dexterous Manipulation by Qiang Li,Shan Luo,Zhaopeng Chen,Chenguang Yang,Jianwei Zhang Pdf

Tactile Sensing, Skill Learning and Robotic Dexterous Manipulation focuses on cross-disciplinary lines of research and groundbreaking research ideas in three research lines: tactile sensing, skill learning and dexterous control. The book introduces recent work about human dexterous skill representation and learning, along with discussions of tactile sensing and its applications on unknown objects’ property recognition and reconstruction. Sections also introduce the adaptive control schema and its learning by imitation and exploration. Other chapters describe the fundamental part of relevant research, paying attention to the connection among different fields and showing the state-of-the-art in related branches. The book summarizes the different approaches and discusses the pros and cons of each. Chapters not only describe the research but also include basic knowledge that can help readers understand the proposed work, making it an excellent resource for researchers and professionals who work in the robotics industry, haptics and in machine learning. Provides a review of tactile perception and the latest advances in the use of robotic dexterous manipulation Presents the most detailed work on synthesizing intelligent tactile perception, skill learning and adaptive control Introduces recent work on human’s dexterous skill representation and learning and the adaptive control schema and its learning by imitation and exploration Reveals and illustrates how robots can improve dexterity by modern tactile sensing, interactive perception, learning and adaptive control approaches

Intelligent Robotics and Applications

Naoyuki Kubota,Kazuo Kiguchi,Honghai Liu,Takenori Obo
Intelligent Robotics and Applications Book PDF

Author : Naoyuki Kubota,Kazuo Kiguchi,Honghai Liu,Takenori Obo
Publisher : Springer
Page : 493 pages
File Size : 51,8 Mb
Release : 2016-08-02
Category : Computers
ISBN : 9783319435183

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Intelligent Robotics and Applications by Naoyuki Kubota,Kazuo Kiguchi,Honghai Liu,Takenori Obo Pdf

This two volume set LNAI 9834 and 9835 constitutes the refereed proceedings of the 9th International Conference on Intelligent Robotics and Applications, ICIRA 2016, held in Tokyo, Japan, in August 2016. The 114 papers presented were carefully reviewed and selected from 148 submissions. The papers are organized in topical sections such as Robot Control; Robot Mechanism, Robot Vision and Sensing; Planning, Localization, and Mapping; Interactive Intelligence; Cognitive Robotics; Bio-Inspired Robotics; Smart Material Based Systems; Mechatronics Systems for Nondestructive Testing; Social Robotics; Human Support Robotics; Assistive Robotics; Intelligent Space; Sensing and Monitoring in Environment and Agricultural Sciences; Human Data Analysis; Robot Hand.