Overview

The increasing demand for robotic applications in today's dynamic unstructured manufacturing environment motivates the scientists towards the design of dexterous end-effectors, which can cope with a wide variety of tasks. The human hand can serve as a model for a robotic gripper, which interacts with the environment with more than twenty-seven degrees of freedom (dofs ). The articulation and accommodation of the human hand in terms of dexterity, stability, tactile sensation, stiffness, weight to grip force ratio, resistance to slip, and adaptability provide clear direction for active research in dexterous manipulation by the robot.

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9781805271598

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