Adaptive synergies for the design and control of the Pisa/IIT SoftHand

By Manuel Giuseppe Catalano, Giorgio Grioli, E. Farnioli, Alessandro Serio, C. Piazza, Antonio Bicchi. Int. J. Robotics Res., 2014

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Robot Programming without Coding (2020, methodology): “The dual arm torso is composed by two Panda Franka Emika 7 DoFs arms equipped with a Pisa/IIT SoftHand [26] as EE.”
Trends and challenges in robot manipulation (2019, methodology): “Thesehavebeenusedas a tool for robot hand analysis, control, and de-sign choice ( 39 – 42 ).”
A Review of Intent Detection, Arbitration, and Communication Aspects of Shared Control for Physical Human-Robot Interaction (2018, methodology): “Inspired by mechanisms naturally found in human hands, the Pisa/IIT SoftHand design [157] was developed as an intuitive, easy-to-use robotic hand for manipulation tasks.”
Optoelectronically innervated soft prosthetic hand via stretchable optical waveguides (2016, background): “However, very few soft prosthetics have demonstrated equivalent sensing ability as motor-driven hand prosthetics, which often achieve proprioceptive sensing through motor motion encoders (8, 10–13) and realize force sensing through multiaxial force/torque load cells (10, 12, 13), which are bulky and”
A novel type of compliant and underactuated robotic hand for dexterous grasping (2016, background): “, 2011), the THE Second Hand and the Pisa-IIT Soft Hand (Catalano et al., 2014), the ISRSoftHand (Tavakoli and Almeida, 2014), the Positive Pressure Gripper (Amend et al.”