Abstract
Taking inspiration from the neuroscientific findings on hand synergies discussed in the first part of the book, in this chapter we present the Pisa/IIT SoftHand, a novel robot hand prototype. The design moves under the guidelines of making an hardware robust and easy to control, preserving an high level of grasping capabilities and an aspect as similar as possible to the human counterpart. First, the main theoretical tools used to enable such simplification are presented, as for example the notion of soft synergies. A discussion of some possible actuation schemes shows that a straightforward implementation of the soft synergy idea in an effective design is not trivial. The proposed approach, called adaptive synergy, rests on ideas coming from underactuated hand design, offering a design method to implement the desired set of soft synergies as demonstrated both with simulations and experiments. As a particular instance of application of the synthesis method of adaptive synergies, the Pisa/IIT SoftHand is described in detail. The hand has 19 joints, but only uses one actuator to activate its adaptive synergy. Of particular relevance in its design is the very soft and safe, yet powerful and extremely robust structure, obtained through the use of innovative articulations and ligaments replacing conventional joint design. Moreover, in this work, summarizing results presented in previous papers, a discussion is presented about how a new set of possibilities is open from paradigm shift in manipulation approaches, moving from manipulation with rigid to soft hands.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Notes
- 1.
From the previous considerations, it follows that other choices are possible. However, a complete discussion about these cases is out of the scope of this work.
References
Gabiccini M, Bicchi A, Prattichizzo D, Malvezzi M (2011) On the role of hand synergies in the optimal choice of grasping forces. Auton Robots 31(2–3):235–252
Bicchi A, Gabiccini M, Santello M (2011) Modelling natural and artificial hands with synergies. Philos Trans R Soc B: Biol Sci 366(1581):3153–3161
Catalano MG, Grioli G, Serio A, Farnioli E, Piazza C, Bicchi A (2012) Adaptive synergies for a humanoid robot hand. In: IEEE-RAS international conference on humanoid robots, Osaka, Japan
Catalano MG, Grioli G, Farnioli E, Serio A, Piazza C, Bicchi A (2014) Adaptive synergies for the design and control of the pisa/iit softhand. Int J Robot Res 33:768–782
Bonilla M, Farnioli E, Piazza C, Catalano MG, Grioli G, Garabini M, Gabiccini M, Bicchi A (in Press) Grasping with soft hands. In International conference on humanoid robots IEEE-RAS 2014, Madrid, Spain, 18–20 Nov
Birglen L, Gosselin C, Laliberté T (2008) Underactuated robotic hands, vol 40. Springer
Gabiccini M, Farnioli E, Bicchi A (2012) Grasp and manipulation analysis for synergistic underactuated hands under general loading conditions. In: 2012 IEEE international conference on Robotics and Automation (ICRA), IEEE, pp 2836–2842
Gabiccini M, Farnioli E, Bicchi A (2013) Grasp analysis tools for synergistic underactuated robotic hands. Int J Robot Res 32:1553–1576 (2013)
Farnioli E, Gabiccini M, Bonilla M, Bicchi A (2013) Grasp compliance regulation in synergistically controlled robotic hands with VSA. In: IEEE/RSJ international conference on intelligent robots and systems, IROS 2013, Tokyo, Japan, pp 3015 –3022, 3–7 Nov 2013
Bicchi A (1994) On the problem of decomposing grasp and manipulation forces in multiple whole-limb manipulation. Int J Robot Auton Syst 13:127–147
Weiss EJ, Flanders M (2004) Muscular and postural synergies of the human hand. J Neurophysiol 92:523–535
Santello M, Baud-Bovy G, Joerntell E (2013) Neural bases of hand synergies. Note: in review
Castellini C, van der Smagt P (2013) Evidence of muscle synergies during human grasping. Biol Cybern 107:233–245
Easton T (1972) On the normal use of reflexes: the hypothesis that reflexes form the basic language of the motor program permits simple, flexible specifications of voluntary movements and allows fruitful speculation. Am Sci 60(5):591–599
Ciocarlie M, Goldfeder C, Allen P (2007) Dexterous grasping via eigengrasps: a low-dimensional approach to a high-complexity problem. In: Proceedings of the robotics: science and systems 2007 workshop-sensing and adapting to the real world, Electronically published, Citeseer
Prattichizzo D, Malvezzi M, Bicchi A (2010) On motion and force controllability of grasping hands with postural synergies. In: Proceedings of robotics: science and systems, Zaragoza, Spain
Wimboeck T, Reinecke J, Chalon M (2012) Derivation and verification of synergy coordinates for the DLR hand arm system. In: CASE, IEEE, pp 454–460
Santello M, Flanders M, Soechting J (1998) Postural hand synergies for tool use. J Neurosci 18(23):10105–10115
Ficuciello F, Palli G, Melchiorri C, Siciliano B (2011) Experimental evaluation of postural synergies during reach to grasp with the ub hand iv. In: 2011 IEEE/RSJ international conference on Intelligent Robots and Systems (IROS), IEEE, pp 1775–1780
Brown C, Asada H (2007) Inter-finger coordination and postural synergies in robot hands via mechanical implementation of principal components analysis. In: IEEE/RSJ International conference on intelligent robots and systems, IROS 2007, IEEE, pp 2877–2882
Tomovic R, Boni G (1962) An adaptive artificial hand. IRE Trans Autom Control 7(3):3–10
Hirose S, Umetani Y (1978) The development of soft gripper for the versatile robot hand. Mech Mach Theory 13(3):351–359
Rovetta A (1981) On functionality of a new mechanical hand. J Mech Des 103:277
Laliberté T, Gosselin C (1998) Simulation and design of underactuated mechanical hands. Mech Mach Theory 33(1):39–57
Carrozza M, Suppo C, Sebastiani F, Massa B, Vecchi F, Lazzarini R, Cutkosky M, Dario P (2004) The spring hand: development of a self-adaptive prosthesis for restoring natural grasping. Auton Robots 16(2):125–141
Gosselin C, Pelletier F, Laliberte T (2008) An anthropomorphic underactuated robotic hand with 15 dofs and a single actuator. In: IEEE international conference on robotics and automation, ICRA 2008, pp 749–754
Dollar A, Howe R (2010) The highly adaptive sdm hand: design and performance evaluation. Int J Robot Res 29(5):585
Laliberte T, Birglen L, Gosselin C (2002) Underactuation in robotic grasping hands. Mach Intell Robot Control 4(3):1–11
Hirose S (1985) Connected differential mechanism and its applications. In: Proceedings of the 2nd ICAR, pp 319–326
Cannon JR, Howell LL (2005) A compliant contact-aided revolute joint. Mech Mach Theory 40:1273–1293
Jeanneau A, Herder J, Laliberté T, Gosselin C (2004) A compliant rolling contact joint and its application in a 3-DoF planar parallel mechanism with kinematic analysis. ASME Conf Proc 46954:689–698
Cadman R (1970) Rolamite—geometry and force analysis, Technical Report, Sandia Laboratories, April 1970
Hillberry B, Hall A Jr (1976) Rolling contact joint. US Patent 3,932,045, 13 Jan 1976
Ruoff C (1985) Rolling contact robot joint. US Patent 4,558,911, 17 Dec 1985
Hsiao K, Chitta S, Ciocarlie M, Jones EG (2010) Contact-reactive grasping of objects with partial shape information. In: 2010 IEEE/RSJ international conference on Intelligent Robots and Systems (IROS), pp 1–8
Klingbeil E, Rao D, Carpenter B, Ganapathi V, Ng AY, Khatib O (2011) Grasping with application to an autonomous checkout robot. In: 2011 IEEE international conference on robotics and automation, pp 2837–2844
Pokorny FT, Stork JA, Kragic D (2012) Grasping objects with holes: a topological approach. In: Proceedings—IEEE international conference on robotics and automation, pp 1100–1107
Montesano L, Lopes M, Bernardino A, Santos-Victor J, Melo FS, Martinez-Cantin R (2009) Learning grasping affordances from local visual descriptors. In: IEEE 8th international conference on development and learning, ICDL 2009. pp 1–6
Detry R, Başeski E, Popović M, Touati Y (2010) Learning continuous grasp affordances by sensorimotor exploration. From motor learning to, Jan 2010
Bohg J, Kragic D (2010) Learning grasping points with shape context. Robot Auton Syst 58:362–377
Saxena A, Driemeyer J, Ng AY (2008) Robotic grasping of novel objects using vision. Int J Robot Res 27:157–173
Bierbaum A, Rambow M (2009) Grasp affordances from multi-fingered tactile exploration using dynamic potential fields. Humanoid Robots, Jan 2009
Herzog A, Pastor P, Kalakrishnan M, Righetti L, Bohg J, Asfour T, Schaal S (2013) Learning of grasp selection based on shape-templates. Auton Robots 36(1–2):51–65
Acknowledgments
The authors would like to thank Andrea Di Basco, Fabrizio Vivaldi, Simone Tono and Emanuele Silvestro for their valuable help in the realization of the prototypes.
This work was supported by the European Commission under the CP-IP grant no. 248587 “THE Hand Embodied”, within the FP7-2007-2013 program “Cognitive Systems and Robotics”, the grant no. 645599 “SOMA: Soft-bodied Intelligence for Manipulation”, funded under H2020-EU-2115, the ERC Advanced Grant no. 291166 “SoftHands: A Theory of Soft Synergies for a New Generation of Artificial Hands”.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2016 Springer International Publishing Switzerland
About this chapter
Cite this chapter
Catalano, M.G. et al. (2016). From Soft to Adaptive Synergies: The Pisa/IIT SoftHand. In: Bianchi, M., Moscatelli, A. (eds) Human and Robot Hands. Springer Series on Touch and Haptic Systems. Springer, Cham. https://doi.org/10.1007/978-3-319-26706-7_8
Download citation
DOI: https://doi.org/10.1007/978-3-319-26706-7_8
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-26705-0
Online ISBN: 978-3-319-26706-7
eBook Packages: Computer ScienceComputer Science (R0)