| 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 |
| Publisher | IEEE |
| Conference Location | Seoul, Korea, November 3 - 5, 2015 |
| Keywords | Haptics, Robotics |
| Abstract | 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.
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| Notes | Softhands, SOMA Best Interactive Paper Award |
| URL | http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7363595 |
| DOI | 10.1109/HUMANOIDS.2015.7363595 |
| Custom 1 | This work is supported by the European Commission Grant no. H2020-ICT-645599 “SOMA”: SOft MAnipulation and the ERC Advanced Grant
no. 291166 “SoftHands”
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| Refereed Designation | Refereed |
| Attachment | Size |
|---|---|
 2015_dsgcbb_humanoids.pdf | 3.98 MB |