In a recent article published in the journal Sensors, researchers introduced a two-finger haptic robotic hand for manipulating objects with varying stiffness and shapes without causing damage or slippage. They employed force sensors and servomotor currents to categorize objects based on their stiffness and apply appropriate force for grasping and lifting. A novel impedance control algorithm that adjusts the stiffness and damping properties of the robotic fingers based on the object characteristics was also designed in this study.
(a) A 3D model of the hand design featuring servomotors for actuation, highlighting the end-effector position and incorporating a combination of aluminum and 3D-printed parts. The diverse range of hand configurations enabled it to grip both (b) symmetric and (c) asymmetric objects. Image Credit: https://www.mdpi.com/1424-8220/24/8/2585
