Towards integrated tactile sensorimotor control in anthropomorphic soft robotic hands
Nathan F. Lepora Chris Ford Andrew Stinchcombe Alfred Brown John Lloyd Manuel G. Catalano Matteo Bianchi Benjamin Ward-Cherrier Nathan F. Lepora Chris Ford Andrew Stinchcombe Alfred Brown John Lloyd Manuel G. Catalano Matteo Bianchi Benjamin Ward-Cherrier
In this work, we report on how a sense of touch can be used to control an underactuated anthropomorphic robot hand, based on an integration that respects the hand’s mechanical functionality. Our focus is on integrating the sensorimotor control of the Pisa/IIT SoftHand, an anthropomorphic soft robot hand designed around the principle of adaptive synergies, with the BRL tactile fingertip (TacTip), a...