2016
Reflex control of the Pisa/IIT SoftHand during object slippage
Arash Ajoudani, Elif Hocaoglu, Alessandro Altobelli, Matteo Rossi, Edoardo Battaglia, Nikos G. Tsagarakis +1
ICRA 2016
In this work, to guarantee the Pisa/IIT SoftHand's grasp robustness against slippage, three reflex control modes, namely Current, Pose and Impedance, are implemented and experimentally evaluated. Towards this objective, ThimbleSense fingertip sensors are designed and integrated into the thumb and mi