TitleDexterity augmentation on a synergistic hand: the Pisa/IIT SoftHand+
Publication TypeConference Paper
Year of Publication2015
Conference Name15th IEEE RAS Humanoids Conference (HUMANOIDS2015)
Pagination497 - 503
AuthorsC. Della Santina,, Grioli, G, Catalano, MG, Brando, A, Bicchi, A
Conference LocationSeoul, Korea, November 3 - 5, 2015
KeywordsHaptics, Robotics
Soft robotics and under-actuation were recently demonstrated as good approaches for the implementation of humanoid robotic hands. Nevertheless, it is often difficult to increase the number of degrees of actuation of heavily under-actuated hands without compromising their intrinsic simplicity. In this paper we analyze the Pisa/IIT SoftHand and its underlying logic of adaptive synergies, and propose a method to double its number of degree of actuation, with a very reduced impact on its mechanical complexity. This new design paradigm is based on constructive exploitation of friction phenomena.
Based on this method, a novel prototype of under-actuated robot hand with two degrees of actuation is proposed, named Pisa/IIT SoftHand+. A preliminary validation of the prototype follows, based on grasping and manipulation examples of some objects.

Softhands, SOMA

Best Interactive Paper Award

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This work is supported by the European Commission Grant no. H2020-ICT-645599 “SOMA”: SOft MAnipulation and the ERC Advanced Grant
no. 291166 “SoftHands”
Refereed DesignationRefereed
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