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Hybrid Control Strategies for Smart Robotic Hand (Hardcover) (Cheng-hung Chen)
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This book focuses on robotic hand for both prosthetic and non-prosthetic applications starting from routine human operations, handling in chemical and nuclear hazardous environments, space station building, repair and maintenance, explosive and terrorist situations to robotic surgery. Fusion of Hard and Soft Control Strategies for Robotic Hand begins by discussing the military relevance towards the need for developing robotic hand technology with tactile/and or proprioceptive feedback at an affordable cost for hand amputees. Chapter one also provides an overview of the main control techniques since 2007. Chapter two and three cover kinematics, homogeneous transformations, inverse and differential kinematics, trajectory planning, and dynamic models of two-link thumb and three-link index finger. Chapter four through six cover soft computing techniques, particle swarm optimization (PSO) techniques, and fusion of hard and soft control strategies. The last chapter discusses future directions for smart hand robotics.