RBO Hand 2
The RBO Hand 2 is a pneumatically actuated robotic hand made from soft continuum actuators. The hand was developed to investigate the capabilities and limits of hands when relying only on soft, deformable structures. The unique technology provides several advantageous benefits to robots trying to interact with the environment:
It is very robust against blunt collisions
It provides very low inertia and frictionless motion by the actuators
Passively compliant fingers and palm decouple contact from the robot arm, stabilizing contacts
It adapts to object shapes due to its many Degrees of Freedom, which simplifies finger control
The pneumatic actuation makes it easy to create complex hand and actuator geometries and modify them
It is passively safe, making it usable for Human-Robot-Interaction
The basic building blocks of an RBO Hand 2 are seven PneuFlex actuators and a plastic scaffold to arrange the actuators into a proper hand.
In total, four different actuator shapes are present in the hand, which are produced using an openly documented multistep molding process. The CAD files provide both actuator models and mold models to produce all required actuators.
Contrary to most robot hands, the RBO Hand 2 is actuated using compressed air. Usually, the hand is complemented with a pneumatic control system, such as the PneumaticBox ( The actuators of the RBO Hand 2 can be operated safely to up to 80 kPa (0.8 bar).
Technische Universität Berlin
Raphael Deimel and Oliver Brock. A Compliant Hand Based on a Novel Pneumatic Actuator. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pp. 01-07, 2013.
Raphael Deimel and Oliver Brock. A Novel Type of Compliant and Underactuated Robotic Hand for Dexterous Grasping. The International Journal of Robotics Research 35(1-3):161-185, 2016.
Pisa/IIT SoftHand by M. G. Catalano, G. Grioli, E. Farnioli, A. Serio, C. Piazza and A. Bicchi is licensed under a Creative Commons Attribution 4.0 International License
License: CC BY-SA 4.0