Human and Robot Hands

Introduction.- Part I: Neuroscience.- Dexterous Manipulation: From High-level Representation to Low-level Co-ordination of Digit Force and Position.- Digit Position and Force Synergies During Unconstrained Grasping.- The Motor Control of Hand Movements in the Human Brain: Toward the Definition of a Cortical Representation of Postural Synergies.- Synergy Control in Subcortical Circuitry: Insights from Neurophysiology.- Neuronal "Op-Amps" Implement Adaptive control in Biology and Robotics.- Sensorimotor Synergies:Fusion of Cutaneous Touch and Proprioception in the Perceived Hand Kinematics.- Part II: Robotics, Models and Sensing Tools.- From Soft to Adaptive Synergies:The PISA/IIT Softhand.- A Learn by Demonstration Approach for Closed-loop Robust Anthromorphic Grasp Planning.- Teleimpudance Control: Overview and Application.- Incremental Learning of Muscle Synergies:From Calibrating a Prothesis to Interacting with it.- How to Map Human Hand Synergies onto Robotic Hands Using the Syngrasp Matlab Toolbox.- Quasi-static Analysis of Synergistically Underactuated Robotic Hands in Grasp and Manipulation Tasks.- A simple Model of the Hand for the Analysis of Object Exploration.- Synergy-based Optimal Sensing Techniques for Hand Pose Reconstruction

"Neuroscience deals with the controlling of senses in humans and their function in the day-to-day work of the human body. In parallel, the robotics field is developing artificial senses or their capabilities in robots. This book discusses human and robot hands. ... This book is an interesting read for researchers, doctoral students, and professionals working in the area of neuroscience and robotics." (Lalit Saxena, Computing Reviews, March, 2017)