Page 206 - Human Inspired Dexterity in Robotic Manipulation

Index 205

H J
Hand anatomy, 91–92 Joint capsule, 94
biological joints, 98–100, 98–100f
bones and joints, 92–93, 92f K
extensor tendons, 94–96, 94f,96f Kinematics vs. dynamics, 79
flexor tendons, 94–96, 94f,96f
joint ligaments, 93–94, 93f L
tendon sheaths, 96–97, 97f
Learning
Hand-and-object system, 153f
dexterous manipulation, 31–32
Hand control systems structure, 150–152,
error-based, 29
151f
reinforcement, 29–30
Hand dimensions, 17
sensorimotor, 27–28
boundary family of, 19–20, 19f
trial-by-trial, 30–31
Hand-eye coordination, 53
use-dependent, 29–30, 47–48
Hand-force-change model, 68–70
Learning manipulation, 29–31
Hand-jerk model, 63 interaction between multiple
minimum, 63–68, 73f,76t,77–78f, sensorimotor process, 31–32, 31f
78–79t
protocols, 32–48
Hand manipulation, 150
data analysis, 34–35
Hand mass
experimental results, 38–46, 39f,
estimation by haptic force, 71f
43f,45f
identification, 70–72, 74–75
model and simulation, 35–37
Hand models, 12
Hand-object interactions, 28–29 M
Haptic force, hand mass estimation by, 71f
Manipulation paths, 189–191, 190f
Haptic sensation, 56
Manipulation planner
Haptic simulator, 73
component connection, 193
Human hand
path generation, 194
anatomy of, 12–14, 13f
transfer path, 193
motions of, 14
transit path, 193
research, 11
type2 path, 193
Human-like reaching movements
examples, 194–199, 195–199f
analysis, 76–79
graph components, 191
in dynamic environment, 62f,64–65
initial object placement, 192
modeling of, 61–62, 62f
intermediate object placement,
192–193
I target object placement, 193
Interference groups (IF), 33 graph structure, 191, 192f
Internal representation, 35–36, 43–44 path optimization, 194
of force scaling, 30–31 Mass model, 4–5, 4f
of manipulation, 43–46 Master-slave system (MSS), 53, 55, 151
Interphalangeal (IP) joint, 14 multisensory illusion on, 58–59, 58f
active movements of, 14 MCP joint. See Metacarpophalangeal
Intrinsic muscles, 14, 95 (MCP) joint
Intuitive control, 53 Mechanical impedance, 5
Intuitiveness, 59 Medicine research, design tools for, 90–91
Inverse internal models, 29 Memory, sensorimotor learning and, 29–30