Tactile SoftHand-A: 3D-printed, tactile, highly underactuated, anthropomorphic robot hand with an antagonistic tendon mechanism

Haoran Li, Christopher J. Ford, Chenghua Lu, Yijiong Lin, Matteo Bianchi, Manuel G. Catalano, Efi Psomopoulou, Nathan F. Lepora, School of Engineering Mathematics and Technology, and Bristol Robotics Laboratory, University of Bristol, School of Robotics, an Jiaotong-Liverpool University, Department of Information Engineering and the Research Center , University of Pisa, Soft Robotics for Human Cooperation and Rehabilitation, Istituto Italiano di Tecnologia

The International Journal of Robotics Research

Published online on October 09, 2025

Abstract

The International Journal of Robotics Research, Volume 45, Issue 7, Page 1063-1090, June 2026.
A challenging and important problem for tendon-driven multi-fingered robotic hands is to ensure grasping adaptivity while minimizing the number of actuators needed to provide human-like functionality. Inspired by the Pisa/IIT SoftHand, this paper ...