Pisa/IIT SoftHand can be connected to a wearable mechanical human interface, in order to intuitively test the hand in complex grasps and
in interaction with the environment. This mechanical interface is fixed to the forearm by an adjustable belt.
The user pulling a lever command a closure position. The lever angle is acquired by the electronics board and
adopted as reference position to drive the actuator of the hand.
It consists in a one shell head which holds a 3D Webcam. This vision system can be actuated by two Qbmove implementing the roll and
pitch DoF of the neck. This add-on can be exploited for several tasks like environment recognition and exploration.