The Pisa/IIT SoftHand is simple (only one motor actuates the whole hand), robust (a suitable joint design allows for disarticulation) and effective in grasping (thanks to the soft-synergy idea applied to 19 degrees of freedom).
The idea at the core of the Pisa/IIT SoftHand, i.e. soft synergies, comes from the combination of natural motor control principles. As a result the hand pose is not predetermined, but depends on the physical interaction of its body with the environment, allowing to grasp a geat variety of objects despite its single degree of actuation.
Simplicity, robustness, lightness and effectiveness make the Pisa/IIT SoftHand ideal for both humanoid robotics and prosthetics.
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