Jared K. Lepora

Educational SoftHand-A: Building an Anthropomorphic Hand with Soft Synergies using LEGO® MINDSTORMS®

This paper introduces an anthropomorphic robot hand built entirely using LEGO MINDSTORMS: the Educational SoftHand-A, a tendon-driven, highly-underactuated robot hand based on the Pisa/IIT SoftHand and related hands. To be suitable for an educational context, the design is constrained to use only st