October 10, 2025The International Journal of Robotics ResearchOpen Access

Tactile SoftHand-A: 3D-printed, tactile, highly underactuated, anthropomorphic robot hand with an antagonistic tendon mechanism

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Authors

HLHaoran Li CFChristopher J. Ford CLChenghua Lu

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Implication

This paper demonstrates a new underactuated robot hand, enhancing grasping adaptivity and manipulability through a tactile sensor and antagonistic mechanism.

Key Points

The Tactile SoftHand-A shows enhanced manipulability and reactivity with a novel antagonistic tendon mechanism.
Testing confirmed improvements in load-bearing capacity, functionality, and reactivity to contact disturbances with the new design.
A control scheme was developed for precise coordination of movement based on tactile image analysis.
The designs for this tactile, underactuated hand are open-sourced, encouraging further innovation in robot hand technology.

Cite This Study

Li et al. (2025) studied this question.

synapsesocial.com/papers/68e861a57ef2f04ca37e4572 https://doi.org/10.1177/02783649251379516

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Implication

This paper demonstrates a new underactuated robot hand, enhancing grasping adaptivity and manipulability through a tactile sensor and antagonistic mechanism.

Tactile SoftHand-A: 3D-printed, tactile, highly underactuated, anthropomorphic robot hand with an antagonistic tendon mechanism

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Key Points

Cite This Study

Tactile SoftHand-A: 3D-printed, tactile, highly underactuated, anthropomorphic robot hand with an antagonistic tendon mechanism

Discussion

Member takes

Implication

Key Points

Cite This Study

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