Pub Date : 2018-08-28DOI: 10.4324/9780429467875-11
M. Santello
The main reason for using a multifingered articulated hand as end-effector of a robotic arm is to endow the system with the ability of manipulating a grasped object with dexterity (Ma and Dollar 2011). While the motion of the robot arm is used to move the robotic hand in the workspace, the fine motion of the fingers can reposition and reorient the object within the hand while guaranteeing a stable grasp of the object. By “within the hand,” we mean with respect to the palm where the fingers of the hand are attached. For a successful manipulative operation, the robotic grasp has to resist external forces, i.e., be force-closure, and to allow dexterous manipulation, i.e., be configured in such a way that the fingers can accommodate arbitrary in-hand object motions (Murray et al. 1994). In this essay, we will refer to multifingered robotic hands. A similar reasoning, however, applies when considering several cooperative manipulators (Caccavale and Uchiyama 2016). As underlined by Okamura et al. (2000), to properly formulate the dexterous manipulation (DM) problem, an object-centered point of view must be adopted. Given an object, grasped by a robotic hand, the aim is to move the object from a pose A to a pose B with respect to the palm, by imposing a suitable motion to the hand fingers, as shown in Fig. 1a. To deal with the DM problem, a suitable mathematical model of the grasp needs to be defined, and some common assumptions are made to allow a precise analysis of the situation (Li et al. 1989a; Murray et al. 1994): (i) the object is a rigid body in contact with a rigid link robot, (ii) accurate models of the fingers and object are given, and (iii) the object is grasped by the distal phalanges of the fingers. The first step to compute the required fingertip forces from a desired force/torque wrench on the object is to consider the grasp static equilibrium
使用多指关节手作为机械臂末端执行器的主要原因是赋予系统灵活操纵抓取物体的能力(Ma和Dollar 2011)。机械臂的运动用于在工作空间中移动机械手，而手指的精细运动可以在保证稳定抓取物体的同时，对手中的物体进行重新定位和重新定向。所谓“在手”，我们指的是手掌，也就是手指附着的地方。为了成功的操作，机器人的抓手必须抵抗外力，即力闭合，并允许灵巧的操作，即配置为手指可以适应任意的手部物体运动(Murray et al. 1994)。在这篇文章中，我们将提到多指机器人手。然而，在考虑几个合作操纵器时，也适用类似的推理(Caccavale和Uchiyama 2016)。正如Okamura等人(2000)所强调的那样，要正确制定灵巧操作(DM)问题，必须采用以对象为中心的观点。给定一个物体，由一只机器人手握，目标是通过施加一个合适的动作到手的手指，使物体相对于手掌从姿势a移动到姿势B，如图1a所示。为了处理DM问题，需要定义一个合适的抓握数学模型，并做出一些共同的假设，以便对情况进行精确的分析(Li et al. 1989a;Murray et al. 1994):(1)物体为刚体，与刚性连杆机器人接触;(2)给出了手指与物体的精确模型;(3)用手指远端指骨抓取物体。计算所需的力/扭矩扳手对物体施加的指尖力的第一步是考虑抓取静态平衡
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{"title":"Learning to Reach in Infancy","authors":"D. Corbetta, Rebecca F. Wiener, Sabrina L Thurman","doi":"10.4324/9780429467875-2","DOIUrl":"https://doi.org/10.4324/9780429467875-2","url":null,"abstract":"","PeriodicalId":265331,"journal":{"name":"Reach-to-Grasp Behavior","volume":"138 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122137607","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-08-28DOI: 10.4324/9780429467875-13
Daniele Caligiore, G. Baldassarre
{"title":"The Development of Reaching and Grasping","authors":"Daniele Caligiore, G. Baldassarre","doi":"10.4324/9780429467875-13","DOIUrl":"https://doi.org/10.4324/9780429467875-13","url":null,"abstract":"","PeriodicalId":265331,"journal":{"name":"Reach-to-Grasp Behavior","volume":"61 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131092832","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-08-28DOI: 10.4324/9780429467875-12
G. Schöner, Jan Tekülve, Stephan K. U. Zibner
{"title":"Reaching for Objects","authors":"G. Schöner, Jan Tekülve, Stephan K. U. Zibner","doi":"10.4324/9780429467875-12","DOIUrl":"https://doi.org/10.4324/9780429467875-12","url":null,"abstract":"","PeriodicalId":265331,"journal":{"name":"Reach-to-Grasp Behavior","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123151147","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"The Development of Anticipatory Planning Skills in 3- to 12-Year-Old Children","authors":"M. Weigelt","doi":"10.4324/9780429467875-4","DOIUrl":"https://doi.org/10.4324/9780429467875-4","url":null,"abstract":"","PeriodicalId":265331,"journal":{"name":"Reach-to-Grasp Behavior","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127162992","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Multiple Motor Channel Theory and the Development of Skilled Hand Movements in Human Infants","authors":"Jenni M. Karl, Lori-Ann R. Sacrey, I. Whishaw","doi":"10.4324/9780429467875-3","DOIUrl":"https://doi.org/10.4324/9780429467875-3","url":null,"abstract":"","PeriodicalId":265331,"journal":{"name":"Reach-to-Grasp Behavior","volume":"319 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131508080","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
A. Rouse, K. Mazurek, Zheng Liu, G. Rivlis, M. Schieber
{"title":"How Separate Are Reaching and Grasping?","authors":"A. Rouse, K. Mazurek, Zheng Liu, G. Rivlis, M. Schieber","doi":"10.4324/9780429467875-6","DOIUrl":"https://doi.org/10.4324/9780429467875-6","url":null,"abstract":"","PeriodicalId":265331,"journal":{"name":"Reach-to-Grasp Behavior","volume":"86 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122294041","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-08-28DOI: 10.4324/9780429467875-10
M. K. Rand, Y. Shimansky
{"title":"Sensorimotor Integration Associated with Transport-Aperture Coordination and Tool-Mediated Reaching","authors":"M. K. Rand, Y. Shimansky","doi":"10.4324/9780429467875-10","DOIUrl":"https://doi.org/10.4324/9780429467875-10","url":null,"abstract":"","PeriodicalId":265331,"journal":{"name":"Reach-to-Grasp Behavior","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130517248","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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