01545nas a2200193   4500008003900000245007300039210006900112260004500181300001400226520093500240653001201175653001301187100001801200700001501218700002001233700001501253700001501268856006801283       2015                          d00aDexterity augmentation on a synergistic hand: the Pisa/IIT SoftHand+0 aDexterity augmentation on a synergistic hand the PisaIIT SoftHan  aSeoul, Korea, November 3 - 5, 2015bIEEE  a497 - 5033 a<div style="text-align: justify;">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.</div>
<div style="text-align: justify;">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.</div>
10aHaptics10aRobotics1 aDella Santina1 aGrioli, G.1 aCatalano, M. G.1 aBrando, A.1 aBicchi, A.  uhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7363595