Soft Bionics Hands with a Sense of Touch Through an Electronic Skin

  • Mahmoud Tavakoli
  • Rui Pedro Rocha
  • João Lourenço
  • Tong Lu
  • Carmel Majidi
Conference paper
Part of the Biosystems & Biorobotics book series (BIOSYSROB, volume 17)


Integration of compliance into the Robotics hands proved to enhance the functionality of under-actuated hands for prosthetic or industrial applications. An appropriate design of the finger geometry with compliant joints allows the fingers to adapt to the shape of the object, and the soft and compliant skin allows for a higher contact area and contact friction. In this article, we describe how these properties were exploited for the development of compliant hands that are simple, efficient and easy to control. We also discuss integration of soft pressure and bending sensors into the digits of these hands.


Joint Configuration Prosthetic Hand Robotic Hand Twisted String Compliant Joint 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.



This research was supported by the Carnegie Mellon Portugal program and the Foundation of Science and Technology of Portugal under the contract CMUP-ERI/TIC/0021/2014.


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Copyright information

© Springer International Publishing AG 2017

Authors and Affiliations

  • Mahmoud Tavakoli
    • 1
  • Rui Pedro Rocha
    • 1
  • João Lourenço
    • 1
  • Tong Lu
    • 2
  • Carmel Majidi
    • 2
  1. 1.Institute of Systems and Robotics of University of CoimbraCoimbraPortugal
  2. 2.Soft Machines LabCarnegie Mellon UniversityPittsburghUSA

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