by Ho Siu Yan. / Thesis (M.Phil.)--Chinese University of Hong Kong, 1995. / Includes bibliographical references (leaves 105-110). / ACKNOWLEDGEMENT --- p.i / ABSTRACT --- p.ii / NOMENCLATURE --- p.iii / TABLE OF CONTENTS --- p.v / LIST OF FIGURES --- p.vii / Chapter 1 --- INTRODUCTION --- p.1 / Chapter 2 --- FORM-CLOSURE GRASP --- p.9 / Chapter 2.1 --- Condition for Form-closure Grasp --- p.9 / Chapter 2.2 --- Construction of Form-closure Grasp --- p.12 / Chapter 2.3 --- Configuration Stability of Form-closure Grasp --- p.28 / Chapter 2.4 --- Determination of Object Frame from a Form-closure Grasp --- p.33 / Chapter 3 --- DYNAMIC MODEL OF MULTI-ARM SYSTEMS HANDLING ONE OBJECT --- p.36 / Chapter 3.1 --- System Description --- p.36 / Chapter 3.2 --- Manipulator Dynamics --- p.37 / Chapter 3.3 --- Object Dynamics --- p.37 / Chapter 3.4 --- Contact Forces --- p.38 / Chapter 3.5 --- Kinematic Relations --- p.40 / Chapter 3.6 --- Overall System --- p.41 / Chapter 3.7 --- Constraint Space Matrices --- p.42 / Chapter 3.8 --- Motion Space Matrices --- p.48 / Chapter 3.9 --- General Joint Model --- p.54 / Chapter 4 --- FORWARD DYNAMICS OF MULTI-ARM SYSTEMS HANDLING ONE OBJECT --- p.65 / Chapter 4.1 --- Previous Works --- p.65 / Chapter 4.2 --- Modified Approach --- p.69 / Chapter 4.3 --- Constraint Violation Stabilization Method --- p.73 / Chapter 4.4 --- Computation Requirement of the Algorithm --- p.75 / Chapter 5 --- CONCLUSION --- p.78 / Chapter 5.1 --- Future Researches --- p.79 / APPENDICES / Chapter A --- PROOFS AND DISCUSSIONS RELATED TO CHAPTER TWO --- p.81 / Chapter B --- IMPLEMENTATION OF THE ALGORITHM FOR DETERMINING THE OBJECT FRAME FROM A FORM-CLOSURE GRASP --- p.95 / Chapter C --- EXPRESSING WRENCHES WITH ZERO-PITCH WRENCHES --- p.96 / Chapter D --- IMPLEMENTATION OF THE PROPOSED SIMULATION ALGORITHM --- p.98 / REFERENCES --- p.105

by Lam Pak Chio. / Thesis (M.Phil.)--Chinese University of Hong Kong, 1998. / Includes bibliographical references (leaves 101-105). / Abstract also in Chinese. / Abstract --- p.ii / Acknowledgements --- p.v / Contents / Chapter 1 --- Introduction --- p.1 / Chapter 1.1 --- Background --- p.1 / Chapter 1.2 --- Problem Definition and Approach --- p.3 / Chapter 1.3 --- Outline --- p.5 / Chapter 2 --- Algorithm Outline --- p.7 / Chapter 2.1 --- Introduction --- p.7 / Chapter 2.2 --- Assumptions --- p.7 / Chapter 2.3 --- Object Model --- p.8 / Chapter 2.4 --- Hand Model --- p.9 / Chapter 2.5 --- Measurement Data --- p.11 / Chapter 2.6 --- Algorithm Outline --- p.12 / Chapter 3 --- Calculation of Contact States --- p.14 / Chapter 3.1 --- Introduction --- p.14 / Chapter 3.2 --- Problem Analysis --- p.15 / Chapter 3.3 --- Details of Algorithm --- p.17 / Chapter 3.3.1 --- Calculation of Contact Points --- p.18 / Chapter 3.3.2 --- Calculation of Object Position and Orientation --- p.26 / Chapter 3.3.2.1 --- The Object Orientation --- p.26 / Chapter 3.3.2.2 --- The Object Position --- p.28 / Chapter 3.3.3 --- Contact Points on Other Fingers --- p.32 / Chapter 4 --- Calculation of Contact Motion --- p.34 / Chapter 4.1 --- Introduction --- p.34 / Chapter 4.2 --- Search-tree --- p.34 / Chapter 4.3 --- Cost Function --- p.36 / Chapter 4.4 --- Details of Algorithm --- p.37 / Chapter 4.4.1 --- Calculation of the Next Instant Contact States --- p.39 / Chapter 4.4.1.1 --- Contact Region Estimation --- p.41 / Chapter 4.4.1.2 --- Contact Point Calculation --- p.45 / Chapter 4.4.1.3 --- Object Position and Orientation Calculation --- p.48 / Chapter 4.4.1.4 --- Contact Motion Calculation --- p.50 / Chapter 5 --- Implementation --- p.56 / Chapter 5.1 --- Introduction --- p.56 / Chapter 5.2 --- Architecture of Friendly Teaching System --- p.56 / Chapter 5.2.1 --- CyberGlove --- p.57 / Chapter 5.2.2 --- CyberGlove Interface Unit --- p.57 / Chapter 5.2.3 --- Host Computer --- p.58 / Chapter 5.2.4 --- Software --- p.58 / Chapter 5.3 --- Algorithm Implementation --- p.59 / Chapter 5.4 --- Examples for Calculation of Contact Configuration --- p.59 / Chapter 5.5 --- Simulation --- p.68 / Chapter 5.6 --- Experiments --- p.82 / Chapter 5.6.1 --- Translation of an Object --- p.82 / Chapter 5.6.2 --- Rotation of an Object --- p.90 / Chapter 6 --- Conclusions --- p.98 / References --- p.101 / Appendix --- p.106

Ding Dan. / "October 2001." / Thesis (Ph.D.)--Chinese University of Hong Kong, 2001. / Includes bibliographical references (p. 121-130). / Electronic reproduction. Hong Kong : Chinese University of Hong Kong, [2012] System requirements: Adobe Acrobat Reader. Available via World Wide Web. / Mode of access: World Wide Web. / Abstracts in English and Chinese.

Thesis (Ph.D.)--Hong Kong University of Science and Technology, 2006. / Includes bibliographical references (leaves 112-125). Also available in electronic version.

Thesis (Ph. D.)--Florida State University, 2004. / Advisor: Dr. Rodney G. Roberts, Florida State University, College of Engineering, Dept. of Electrical and Computer Engineering. Title and description from dissertation home page (viewed June 15, 2004). Includes bibliographical references.

Thesis (Ph. D.)--University of Texas at Austin, 2002. / Vita. Includes bibliographical references. Available also from UMI Company.

Thesis (Ph. D.)--University of Texas at Austin, 2002. / Vita. Includes bibliographical references. Available also from UMI Company.

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