Pisa/IIT SoftHand

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.

Acknowledgements:

Manuel Catalano

Giorgio Grioli

Manolo Garabini

Marco Gabiccini

Lorenzo Malagia

Alberto Brando

Cristina Piazza

Alessandro Serio

Fabio Bonomo

Andrea Di Basco

Antonio Bicchi

 

Affiliation:

Centro E. Piaggio

IIT

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License:

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

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© 2014 Natural Machine Motion Initiative