Intelligent Service Robotics

, Volume 8, Issue 4, pp 225–232 | Cite as

Computation of minimum contact forces of multifingered robot hand with soft fingertips

  • Fengyi Liu
  • Yong Bum Kim
  • Gun Kyu Yee
  • Won Suk You
  • Gi Tae Kang
  • An Na Kim
  • Young Hun Lee
  • Hyungpil Moon
  • Ja Choon Koo
  • Hyouk Ryeol ChoiEmail author
Original Research Paper


In the human hand, the softness of a fingertip plays a significant role on stable grasping and dexterous manipulation. This paper presents a method of computing minimum grasp forces of a multi-fingered hand with soft fingertips. In the first, we built up a simple linear contact model of a soft fingertip. Then, based on Pontryagin’s principle, the problem of minimizing contact forces for realizing the stable grasping was formulated and the forces were computed. Finally, the experiments were carried out using a multifingered robot hand, called “Allegro Hand” with hard fingertips and soft ones, and the effectiveness of the proposed method was validated.


Multifingered robot hand Soft fingertip Minimum contact forces Contact model 



This research was supported by the convergence technology development program for bionic arm through the National Research Foundation of Korea (NRF) funded by the Ministry of Science, ICT & Future Planning (No. 2014M3C1B2048175). The first author was financially supported by the State Scholarship Fund, organized by the China Scholarship Council (CSC).

Supplementary material

Supplementary material 1 (mpg 48434 KB)

Supplementary material 2 (mpg 50158 KB)

Supplementary material 3 (mpg 85842 KB)


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Copyright information

© Springer-Verlag Berlin Heidelberg 2015

Authors and Affiliations

  • Fengyi Liu
    • 1
  • Yong Bum Kim
    • 1
  • Gun Kyu Yee
    • 1
  • Won Suk You
    • 1
  • Gi Tae Kang
    • 1
  • An Na Kim
    • 1
  • Young Hun Lee
    • 1
  • Hyungpil Moon
    • 1
  • Ja Choon Koo
    • 1
  • Hyouk Ryeol Choi
    • 1
    Email author
  1. 1.School of Mechanical EngineeringSungkyunkwan UniversitySuwonKorea

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