Mechanics and Control of Soft-fingered Manipulation

  • Takahiro Inoue
  • Shinichi Hirai

About this book


It is well known that the anatomy of our fingers, which consists of soft fingertips and hard fingernails, is well designed for grasping and manipulating objects. Mechanics and Control of Soft-fingered Manipulation introduces a new approach to the modeling of fingertips that have a soft pad and a hard back plate, similar to human fingers. Starting from the observation of soft-fingered grasping and manipulation, the book provides a parallel distributed model that takes into account tangential deformation of the fingertips. The model is supported with many experimental verifications and simulation results. Statics and dynamics in soft-fingered grasping and manipulation are also formulated based on this new model.

Mechanics and Control of Soft-fingered Manipulation uniquely investigates how soft fingertips with hard back plates enhance dexterity in grasping and manipulation, theoretically and experimentally. This approach reveals the differences between soft-fingered and rigid-fingered manipulation. Researchers involved in object manipulation by robotic hands, as well as in human dexterity in object manipulation, will find this text enlightening.


Grasping Hand Manipulation Robotics Simulation design mechanics modeling robot statics

Authors and affiliations

  • Takahiro Inoue
    • 1
  • Shinichi Hirai
    • 2
  1. 1.Department of Systems Engineering for SportsOkayama Prefectural UniversityOkayamaJapan
  2. 2.Department of RoboticsRitsumeikan UniversityShigaJapan

Bibliographic information

  • DOI
  • Copyright Information Springer London 2009
  • Publisher Name Springer, London
  • eBook Packages Engineering
  • Print ISBN 978-1-84800-980-6
  • Online ISBN 978-1-84800-981-3
  • Buy this book on publisher's site