Dexterity augmentation on a synergistic hand: the Pisa/IIT SoftHand+
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|Title||Dexterity augmentation on a synergistic hand: the Pisa/IIT SoftHand+|
|Publication Type||Conference Paper|
|Year of Publication||2015|
|Conference Name||15th IEEE RAS Humanoids Conference (HUMANOIDS2015)|
|Pagination||497 - 503|
|Authors||C. Della Santina,, Grioli, G, Catalano, MG, Brando, A, Bicchi, A|
|Conference Location||Seoul, Korea, November 3 - 5, 2015|
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.
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”