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The PRISMA Hand II: A Sensorized Robust Hand for Adaptive Grasp and In-Hand Manipulation

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Robotics Research (ISRR 2019)

Part of the book series: Springer Proceedings in Advanced Robotics ((SPAR,volume 20))

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Abstract

Although substantial progresses have been made in building anthropomorphic robotic hands, lack of mechanical robustness, dexterity and force sensation still restrains wide adoption of robotic prostheses. This paper presents the design and preliminary evaluation of the PRISMA hand II, which is a mechanically robust anthropomorphic hand developed at the PRISMA Lab of University of Naples Federico II. The hand is highly underactuated, as the 19 finger joints are driven by three motors via elastic tendons. Nevertheless, the hand can performs not only adaptive grasps but also in-hand manipulation. The hand uses rolling contact joints, which is compliant in multiple directions. Force sensor are integrated to each fingertip in order to provide force feedback during grasping and manipulation. Preliminary experiments have been performed to evaluate the hand. Results show that the hand can perform various grasps and in-hand manipulation, while the structure can withstand severe disarticulation. This suggests that the proposed design can be a viable solution for robust and dexterous prosthetic hands.

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Acknowledgement

This project was partially supported by the POR FESR 2014-2020 National programme within BARTOLO project CUP B41C17000090007 and by the MIUR PON 20142020 National programme within PROSCAN project CUP E26C18000170005.

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Authors and Affiliations

  1. University of Naples Federico II, Naples, Italy

    Huan Liu, Pasquale Ferrentino, Bruno Siciliano & Fanny Ficuciello

  2. University of Campania “Luigi Vanvitelli”, Aversa, Italy

    Salvatore Pirozzi

Authors
  1. Huan Liu
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  2. Pasquale Ferrentino
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  3. Salvatore Pirozzi
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  4. Bruno Siciliano
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  5. Fanny Ficuciello
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Corresponding author

Correspondence to Fanny Ficuciello .

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Editors and Affiliations

  1. Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Baden-Württemberg, Germany

    Tamim Asfour

  2. Department of Information Technology and Human Factors, National Institute of Advanced Industrial Science and Technology, Tsukuba, Japan

    Eiichi Yoshida

  3. Seoul National University, Seoul, Korea (Republic of)

    Jaeheung Park

  4. Jacobs School of Engineering, Institute for Contextual Robotics, San Diego, CA, USA

    Henrik Christensen

  5. Department of Computer Science, Stanford University, Stanford, CA, USA

    Oussama Khatib

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Liu, H., Ferrentino, P., Pirozzi, S., Siciliano, B., Ficuciello, F. (2022). The PRISMA Hand II: A Sensorized Robust Hand for Adaptive Grasp and In-Hand Manipulation. In: Asfour, T., Yoshida, E., Park, J., Christensen, H., Khatib, O. (eds) Robotics Research. ISRR 2019. Springer Proceedings in Advanced Robotics, vol 20. Springer, Cham. https://doi.org/10.1007/978-3-030-95459-8_60

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