A friendly teaching system for dexterous manipulation tasks of multi-fingered hands.

• Other Authors: Lam, Pak Chio.
• Format: Others
• Language: English; Chinese
• Published: 1998
• Subjects: Robot hands; Manipulators (Mechanism)
• Online Access: http://library.cuhk.edu.hk/record=b5889664; http://repository.lib.cuhk.edu.hk/en/item/cuhk-322276

by Lam Pak Chio. === Thesis (M.Phil.)--Chinese University of Hong Kong, 1998. === Includes bibliographical references (leaves 101-105). === Abstract also in Chinese. === Abstract --- p.ii === Acknowledgements --- p.v === Contents === Chapter 1 --- Introduction --- p.1 === Chapter 1.1 --- Background --- p.1 === Chapter 1.2 --- Problem Definition and Approach --- p.3 === Chapter 1.3 --- Outline --- p.5 === Chapter 2 --- Algorithm Outline --- p.7 === Chapter 2.1 --- Introduction --- p.7 === Chapter 2.2 --- Assumptions --- p.7 === Chapter 2.3 --- Object Model --- p.8 === Chapter 2.4 --- Hand Model --- p.9 === Chapter 2.5 --- Measurement Data --- p.11 === Chapter 2.6 --- Algorithm Outline --- p.12 === Chapter 3 --- Calculation of Contact States --- p.14 === Chapter 3.1 --- Introduction --- p.14 === Chapter 3.2 --- Problem Analysis --- p.15 === Chapter 3.3 --- Details of Algorithm --- p.17 === Chapter 3.3.1 --- Calculation of Contact Points --- p.18 === Chapter 3.3.2 --- Calculation of Object Position and Orientation --- p.26 === Chapter 3.3.2.1 --- The Object Orientation --- p.26 === Chapter 3.3.2.2 --- The Object Position --- p.28 === Chapter 3.3.3 --- Contact Points on Other Fingers --- p.32 === Chapter 4 --- Calculation of Contact Motion --- p.34 === Chapter 4.1 --- Introduction --- p.34 === Chapter 4.2 --- Search-tree --- p.34 === Chapter 4.3 --- Cost Function --- p.36 === Chapter 4.4 --- Details of Algorithm --- p.37 === Chapter 4.4.1 --- Calculation of the Next Instant Contact States --- p.39 === Chapter 4.4.1.1 --- Contact Region Estimation --- p.41 === Chapter 4.4.1.2 --- Contact Point Calculation --- p.45 === Chapter 4.4.1.3 --- Object Position and Orientation Calculation --- p.48 === Chapter 4.4.1.4 --- Contact Motion Calculation --- p.50 === Chapter 5 --- Implementation --- p.56 === Chapter 5.1 --- Introduction --- p.56 === Chapter 5.2 --- Architecture of Friendly Teaching System --- p.56 === Chapter 5.2.1 --- CyberGlove --- p.57 === Chapter 5.2.2 --- CyberGlove Interface Unit --- p.57 === Chapter 5.2.3 --- Host Computer --- p.58 === Chapter 5.2.4 --- Software --- p.58 === Chapter 5.3 --- Algorithm Implementation --- p.59 === Chapter 5.4 --- Examples for Calculation of Contact Configuration --- p.59 === Chapter 5.5 --- Simulation --- p.68 === Chapter 5.6 --- Experiments --- p.82 === Chapter 5.6.1 --- Translation of an Object --- p.82 === Chapter 5.6.2 --- Rotation of an Object --- p.90 === Chapter 6 --- Conclusions --- p.98 === References --- p.101 === Appendix --- p.106