@inproceedings{f8fdd4d048204b43bc94eaeb0b9eeddc,
title = "Dexterity augmentation on a synergistic hand: The Pisa/IIT SoftHand+",
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.",
keywords = "Force, Friction, Grasping, Prototypes, Pulleys, Robots, Tendons",
author = "Santina, {Cosimo Delia} and Giorgio Grioli and Manuel Catalano and Alberto Brando and Antonio Bicchi",
note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; 15th IEEE RAS International Conference on Humanoid Robots, Humanoids 2015 ; Conference date: 03-11-2015 Through 05-11-2015",
year = "2015",
month = dec,
day = "22",
doi = "10.1109/HUMANOIDS.2015.7363595",
language = "English",
series = "IEEE-RAS International Conference on Humanoid Robots",
publisher = "IEEE Computer Society",
pages = "497--503",
booktitle = "Humanoids 2015",
}