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 -