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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.


Manuel Catalano

Giorgio Grioli

Manolo Garabini

Marco Gabiccini

Lorenzo Malagia

Alberto Brando

Cristina Piazza

Alessandro Serio

Fabio Bonomo

Andrea Di Basco

Antonio Bicchi



Centro E. Piaggio




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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