TY - CONF T1 - Dexterity augmentation on a synergistic hand: the Pisa/IIT SoftHand+ T2 - 15th IEEE RAS Humanoids Conference (HUMANOIDS2015) Y1 - 2015 A1 - C. Della Santina A1 - G. Grioli A1 - M. G. Catalano A1 - Brando, A. A1 - A. Bicchi KW - Haptics KW - Robotics AB -
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.
JF - 15th IEEE RAS Humanoids Conference (HUMANOIDS2015) PB - IEEE CY - Seoul, Korea, November 3 - 5, 2015 UR - http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7363595 N1 -

Softhands, SOMA

Best Interactive Paper Award

U1 -
This work is supported by the European Commission Grant no. H2020-ICT-645599 “SOMA”: SOft MAnipulation and the ERC Advanced Grant
no. 291166 “SoftHands”
ER -