2 papers
cs.RO2025
Tactile SoftHand-A: 3D-Printed, Tactile, Highly-underactuated, Anthropomorphic Robot Hand with an Antagonistic Tendon Mechanism
Haoran Li, Christopher J. Ford, Chenghua Lu +5
A challenging and important problem for tendon-driven multi-fingered robotic hands is to ensure grasping adaptivity while minimizing the number of actuators needed to provide human…
cs.RO2025
Shear-based Grasp Control for Multi-fingered Underactuated Tactile Robotic Hands
Christopher J. Ford, Haoran Li, Manuel G. Catalano +3
This paper presents a shear-based control scheme for grasping and manipulating delicate objects with a Pisa/IIT anthropomorphic SoftHand equipped with soft biomimetic tactile senso…