Journal article Open Access

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

Della Santina Cosimo; Piazza Cristina; Grioli Giorgio; Catalano G. Manuel; Bicchi Antonio


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  <identifier identifierType="URL">https://zenodo.org/record/1619044</identifier>
  <creators>
    <creator>
      <creatorName>Della Santina Cosimo</creatorName>
      <nameIdentifier nameIdentifierScheme="ORCID" schemeURI="http://orcid.org/">0000-0003-1067-1134</nameIdentifier>
      <affiliation>Research Center "Enrico Piaggio", University of Pisa, Largo Lucio Lazzarino 1, 56126 Pisa, Italy</affiliation>
    </creator>
    <creator>
      <creatorName>Piazza Cristina</creatorName>
      <nameIdentifier nameIdentifierScheme="ORCID" schemeURI="http://orcid.org/">0000-0002-0358-8677</nameIdentifier>
      <affiliation>Research Center "Enrico Piaggio", University of Pisa, Largo Lucio Lazzarino 1, 56126 Pisa, Italy</affiliation>
    </creator>
    <creator>
      <creatorName>Grioli Giorgio</creatorName>
      <nameIdentifier nameIdentifierScheme="ORCID" schemeURI="http://orcid.org/">0000-0002-5310-2997</nameIdentifier>
      <affiliation>Soft Robotics for Human Cooperation and Rehabilitation, Istituto Italiano di Tecnologia, Via Morego 30, 16163, Genova, Italy</affiliation>
    </creator>
    <creator>
      <creatorName>Catalano G. Manuel</creatorName>
      <nameIdentifier nameIdentifierScheme="ORCID" schemeURI="http://orcid.org/">0000-0003-1950-6186</nameIdentifier>
      <affiliation>Soft Robotics for Human Cooperation and Rehabilitation, Istituto Italiano di Tecnologia, Via Morego 30, 16163, Genova, Italy</affiliation>
    </creator>
    <creator>
      <creatorName>Bicchi Antonio</creatorName>
      <nameIdentifier nameIdentifierScheme="ORCID" schemeURI="http://orcid.org/">0000-0001-8635-5571</nameIdentifier>
      <affiliation>Research Center "Enrico Piaggio", University of Pisa, Largo Lucio Lazzarino 1, 56126 Pisa, Italy, Soft Robotics for Human Cooperation and Rehabilitation, Istituto Italiano di Tecnologia, Via Morego 30, 16163, Genova, Italy</affiliation>
    </creator>
  </creators>
  <titles>
    <title>Towards Dexterous Manipulation with Augmented Adaptive Synergies: the Pisa/IIT SoftHand 2</title>
  </titles>
  <publisher>Zenodo</publisher>
  <publicationYear>2018</publicationYear>
  <dates>
    <date dateType="Issued">2018-06-01</date>
  </dates>
  <resourceType resourceTypeGeneral="Text">Journal article</resourceType>
  <alternateIdentifiers>
    <alternateIdentifier alternateIdentifierType="url">https://zenodo.org/record/1619044</alternateIdentifier>
  </alternateIdentifiers>
  <relatedIdentifiers>
    <relatedIdentifier relatedIdentifierType="DOI" relationType="IsIdenticalTo">10.1109/TRO.2018.2830407</relatedIdentifier>
  </relatedIdentifiers>
  <rightsList>
    <rights rightsURI="http://creativecommons.org/licenses/by/4.0/legalcode">Creative Commons Attribution 4.0 International</rights>
    <rights rightsURI="info:eu-repo/semantics/openAccess">Open Access</rights>
  </rightsList>
  <descriptions>
    <description descriptionType="Abstract">&lt;p&gt;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 degree of actuation prevents the execution of more complex tasks, like fine pre-shaping of fingers and in-hand manipulation. While possible in theory, simply doubling the Pisa/IIT SoftHand actuation system has several disadvantages, e.g. in terms of space and mechanical complexity. To overcome these limitations we propose a novel design framework for tendon driven mechanisms, where the main idea is to turn transmission friction from a disturbance into a design tool. In this way the degrees of actuation can be doubled with little additional complexity. By leveraging on this idea we design a novel robotic hand, the Pisa/IIT SoftHand 2. We present here its design, modeling, control, and experimental validation. The hand demonstrates that by opportunely combining only two degrees of actuation with hand softness, a large variety of grasping and manipulation tasks can be performed only relying on the intelligence embodied in the mechanism. Examples include rotating objects with different shapes, opening a jar, pouring coffee from a glass.&lt;/p&gt;</description>
  </descriptions>
  <fundingReferences>
    <fundingReference>
      <funderName>European Commission</funderName>
      <funderIdentifier funderIdentifierType="Crossref Funder ID">10.13039/501100000780</funderIdentifier>
      <awardNumber awardURI="info:eu-repo/grantAgreement/EC/H2020/688857/">688857</awardNumber>
      <awardTitle>Synergy-based Open-source Foundations and Technologies for Prosthetics and RehabilitatiOn</awardTitle>
    </fundingReference>
    <fundingReference>
      <funderName>European Commission</funderName>
      <funderIdentifier funderIdentifierType="Crossref Funder ID">10.13039/501100000780</funderIdentifier>
      <awardNumber awardURI="info:eu-repo/grantAgreement/EC/H2020/645599/">645599</awardNumber>
      <awardTitle>Soft-bodied intelligence for  Manipulation</awardTitle>
    </fundingReference>
  </fundingReferences>
</resource>
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