@article{697632,
      recid = {697632},
      author = {Grebenstein, Markus,},
      title = {Approaching human performance The Functionality-Driven  Awiwi Robot Hand / [electronic resource] :},
      pages = {1 online resource (xxxiv, 209 pages) :},
      abstract = {Humanoid robotics have made remarkable progress since the  dawn of robotics. So why don't we have humanoid robot  assistants in day-to-day life yet? This book analyzes the  keys to building a successful humanoid robot for field  robotics, where collisions become an unavoidable part of  the game. The author argues that the design goal should be  real anthropomorphism, as opposed to mere human-like  appearance. He deduces three major characteristics to aim  for when designing a humanoid robot, particularly robot  hands: _ Robustness against impacts _ Fast dynamics _  Human-like grasping and manipulation performance ? Instead  of blindly copying human anatomy, this book opts for a  holistic design me-tho-do-lo-gy. It analyzes human hands  and existing robot hands to elucidate the important  functionalities that are the building blocks toward these  necessary characteristics.They are the keys to designing an  anthropomorphic robot hand, as illustrated in the high  performance anthropomorphic Awiwi Hand presented in this  book. ? This is not only a handbook for robot hand  designers. It gives a comprehensive survey and analysis of  the state of the art in robot hands as well as the human  anatomy. It is also aimed at researchers and roboticists  interested in the underlying functionalities of hands,  grasping and manipulation. The methodology of functional  abstraction is not limited to robot hands, it can also help  realize a new generation of humanoid robots to accommodate  a broader spectrum of the needs of human society.},
      url = {http://library.usi.edu/record/697632},
      doi = {https://doi.org/10.1007/978-3-319-03593-2},
}