By Shapere A., Wilczek F. (eds.)
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Additional info for Geometric Phases in Physics (Advanced Series in Mathematical Physics, Vol 5)
1 Finger Reachability The ﬁnger model we consider is anthropomorphic, similar like the human ﬁnger. The rotation of the beginning joint causes abduct and adduct movements. The following joints ﬂexes the ﬁnger in a same plane. As many robotic ﬁngers are built this way, the following analysis can be applied to these robotic hands. As reviewed in the introduction section, the grasping process can be decomposed into two sub-processes: placing hand preshape and ﬁnger closing. In this paper, the hand preshapes are deﬁned so that the ﬁngers have diﬀerent initial joints.
Dillmann Approximated Graspable Boxes. To grasp objects of all possible sizes, we need to ﬁnd a way to approximate the diﬀerent sizes. Box is one of the simplest shape primitives in three dimensional space. The bounding box of an object describes the volume that completely contains the object geometry, which is often used for collision checking. A box has six faces and eight vertexes. Width, height and depth of a box determine the size of a box. Because of its simplicity, we analyze how each box can be grasped with the robotic hand instead of concrete object geometries.
Linear kernel is used for the binary classsification of any mode pairs (oneagainst-one) . So, there will be a total of C102 classifiers, and the final decision of the mode label will be made depending on their ballots. Development of an Anthropomorphic Prosthetic Hand for Man-Machine Interaction 43 3) Mode encoding and transmission; the 10 modes are sequentially labelled as 0relexion, 1-thumb flextion, 2-thumb extention, 3-index flextion, 4-index extention, 5rest three finger flextion, 6-rest three finger extention, 7-all flextion, 8-all extention, 9-nip (thumb and index flextion).