publication . Article . 2018

Towards Dexterous Manipulation with Augmented Adaptive Synergies: the Pisa/IIT SoftHand 2

Della Santina Cosimo; Piazza Cristina; Grioli Giorgio; Catalano G. Manuel; Bicchi Antonio;
Open Access
  • Published: 01 Jun 2018
Abstract
In the recent years, a clear trend towards simplification emerged in the development of robotic hands. The use of soft robotic approaches has been a useful tool in this prospective, enabling complexity reduction by embodying part of grasping intelligence in the hand mechanical structure. Several hand prototypes designed according to such principles have accomplished good results in terms of grasping simplicity, robustness, and reliability. Among them, the Pisa/IIT SoftHand demonstrated the feasibility of a large variety of grasping tasks, by means of only one actuator and an opportunely designed tendon driven differential mechanism. However, the use of a single ...
Funded by
EC| SoMa
Project
SoMa
Soft-bodied intelligence for Manipulation
  • Funder: European Commission (EC)
  • Project Code: 645599
  • Funding stream: H2020 | RIA
,
EC| SoftPro
Project
SoftPro
Synergy-based Open-source Foundations and Technologies for Prosthetics and RehabilitatiOn
  • Funder: European Commission (EC)
  • Project Code: 688857
  • Funding stream: H2020 | RIA
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Article . 2018
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