Titlebook: Underactuated Robotic Hands; Lionel Birglen,Thierry Laliberté,Clément Gosselin Book 2008 Springer-Verlag Berlin Heidelberg 2008 Intelligen

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Design and Control of the Laval Underactuated Hands, of underactuated hands. Several prototypes of underactuated hands built at Université Laval are extensively presented in this chapter. The analysis and optimization of underactuated fingers (Chapters?3–5) as well as the available techniques to extend the underactuation between the fingers (Chapter?

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Conclusion,search. It covers a broad spectrum ranging from the analysis of theoretical properties of underactuation in grasping to the actual design and control of prototypes. In the introduction of the book, a survey of current architectures of robotic hands was presented. Then, the principle of underactuatio

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Book 2008involving unstructured environments (e.g. space, undersea, surgery), intelligent manipulation and grasping has become a crucial research area. The authors have developed an internationally recognized expertise in this area. Additionally, they designed and built several prototypes which attracted the

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Introduction, themselves. The same philosophy of intelligent design is commonly found in mechanical linkages where the different link lengths and joint types are determined at the design stage in order to follow a particular trajectory. If this trajectory is entirely predetermined, then only one DOF suffices to

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Grasping vs. Manipulating,ny research laboratories around the world have developed prototypes of such hands as early as in the mid 1980’s when the foundations of these studies were laid (Mason and Salisbury 1985). However, the idea of copying the human hand is actually much older and may be contemporary of the first automata

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Design and Control of the Laval Underactuated Hands,s environments, e.g. in space. Successful grasping in a spatial environment is an important issue addressed in the literature. More specifically, in?(Foster and Akin 2001), a study of the different grasping requirements for 242 existing crew aids and tools as well as during extravehicular activities

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1610-7438 d in practice. This book is not intended to be used as a textbook but could be used as a reference at the post-graduate level..978-3-642-09611-2978-3-540-77459-4Series ISSN 1610-7438 Series E-ISSN 1610-742X

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