Control Theory of Multi-fingered Hands

Dr Suguru Arimoto is a Professor in the Department of Robotics at Ritsumeikan University, Japan. His research interests include information theory, control theory, cybernetics, robotics, and machine intelligence. Dr Arimoto is a Fellow of the Institute of Electrical and Electronics Engineers; the Institute of Electronics, Information and Communication Engineers; the Robotics Society of Japan; and the Japan Society of Mechanical Engineers. He was awarded the Royal Medal with a Purple Ribbon from the Japanese Government in 2000, and the IEEE 3rd Millennium Medal in 2000.

Characterisations of Human Hands.- Stability of Grasping in a Static or Dynamic Sense.- Testbed Problems to Control a 2-D Object Through Rolling Contact.- Two-dimensional Grasping by a Pair of Rigid Fingers.- Three-dimensional Grasping by a Pair of Rigid Fingers.- Dexterity and Control for Stable Grasping by Soft Fingers.