Page 202 - Human Inspired Dexterity in Robotic Manipulation

CHAPTER 11

Prospects of Further Dexterity in

Robotic Manipulation by Imitating

Human Beings

Tetsuyou Watanabe
Faculty of Mechanical Engineering, Institute of Science and Engineering, Kanazawa University, Kanazawa,
Japan

Contents
11.1 Summary 201

11.1 SUMMARY

This text provides up-to-date research about human functions for dexterous
object manipulations, and how to transfer human functions to robotic
manipulation.
The first section was focused on human functions, and we presented that
recent revelations on hand anatomy (Chapter 2), the human learning process
of dexterous manipulation in the context of sensorimotor functions
(Chapter 3), the excitation of multisensory illusion in a surgical robotic
system (Chapter 4), and the examination of human reaching behavior when
manipulating parallel flexible objects (Chapter 5).
In the second section, the methodologies to imitate human functions for
dexterous robotic manipulation were presented. In Chapters 6 and 7, the
design strategies for robotic hands were presented to attain the dexterity
in robots. In Chapters 8 and 9 the focus was on thumb opposability and
the control strategies based on that were presented. In Chapter 10, the
planning strategy for dual-arm manipulation was presented.
The results indicate that the approaches in imitating human functions
with object manipulation are powerful and promising. However, robots
cannot conduct dexterous manipulation like humans. Luckily, there are still
a lot of unrevealed human functions, and so the capacity for improving the

Human Inspired Dexterity in Robotic Manipulation © 2018 Elsevier Inc.
https://doi.org/10.1016/B978-0-12-813385-9.00011-X All rights reserved. 201