Page 207 - Human Inspired Dexterity in Robotic Manipulation

206 Index

Metacarpal bones, 13 Proximal interphalangeal (PIP) joint, 14,
Metacarpophalangeal (MCP) joint, 13, 15, 92–96, 94f,98f
55–56, 92–93, 95–96, 98–99 Psychophysics, 56
of human fingers, 99f
Minimum hand-force-change model, 68–70 R
Minimum hand-jerk model, 63–68, 73f,76t,
Random group, 33
77–78f,78–79t
Range of motion (ROM), 93, 93f, 98,
MoCap system, 16, 20 98–99f
Motion-capturing system, 12, 31–32 Regrasping, 187–188
Motor behavior, skilled, 29
Reinforcement learning, 29–30
MSS. See Master-slave system (MSS)
Retention, 30, 41
Multifingered hand-arm system grasping,
group, 33
167–168, 168f
Retrieval index (RI), 34–35
Multisensory illusion, on master-slave
RHI. See Rubber hand illusion (RHI)
system, 58–59, 58f
Robot-hand research, 11
Multisensory integration and illusion,
Robotically enhanced illusion, 55–58,
54–55, 54f
55f,57f
Robotic dexterous manipulation
N human data and potential applications to,
Notation, 188, 189f 48–49
Robotic hands, anthropomorphic, 87–90,
89f, 106–107
O Robots
Object dynamics of, 6
manipulation, 187 kinematics and statics of, 6
placement planner, 189 ROM. See Range of motion (ROM)
Optimal control, 65–66, 80 Rubber hand illusion (RHI), 54–56
Optimization models, 62
S
P Sensorimotor learning, 27–28
Pascal’s law, 116–117 and memory, 29–30
Pick-and-place operation, 150 Sensorimotor process, interaction between
PIP joint. See Proximal interphalangeal (PIP) multiple, 31–32, 31f
joint Silicon fingertip, 120, 120f
Power grasp, 5, 5f, 22, 150 Single mass-flexible object, 63
synthesis of, 23f Skilled motor behavior, 29
Precision grasp, 5, 5f, 22, 150 Soft-finger models, 152
contact models, 152–153, 153f Soft (Kinugoshi) tofu
effect of opposed motion in, 155f experimental setup for compression test
synthesis of, 23f of, 126, 127f
Prescale mat, 120–121, 123–124 fluid fingertip and, 130f
Principal component analysis (PCA), grasping test for, 134, 134f, 135t
19–22 Spring model, 4–5, 4f
Prosthetic robotic hands Stable grasping, 188–189
anthropomorphic, 89–90 superposition of lower priority tasks to,
development of, 90 158–159, 159f
teleoperation of, 105–107, 106–107f Stable-object grasping, 165–167