Titlebook: Control Theory of Multi-fingered Hands; A Modelling and Anal Suguru Arimoto Book 2008 Springer-Verlag London 2008 Dexterity and Intelligenc

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Testbed Problems to Control a 2-D Object Through Rolling Contact,g any slip. Lagrange’s equation of motion for such a testbed finger-object system is derived together with two constraints: the point contact constraint and the rolling contact constraint. It is shown that there arises a rolling constraint force tangential to both the finger-end sphere and the objec

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Book 2008fficient 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

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Dexterity and Control for Stable Grasping by Soft Fingers,trol of rolling contact constraint forces to establish force/torque balance. A class of coordinated control signals based on fingers-thumb opposability was shown to be effective in realising stable grasping in a blind manner.

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Characterisations of Human Hands,It is said that the hand is an agency of the brain. It reflects activities of the brain and thereby it is a sort of mirror to the mind. It is the hand that is the most intriguing and most human of appendages.

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Suguru ArimotoNo other book has been written about the control of multi-fingered hands.Explains what kinds of sensory-motor coordinated signals are necessary and sufficient for realizing stable grasping and/or obje