Feb 9, 2023
kuka lwr, franka emika panda, ur5
Great end effector for research applications.
Great model for a variety of tasks. Its compliant design makes this model great for hri and interaction with fragile environments. I used both the SoftHand1 and the SoftHand2. The latter is the new model with two motors, which increases the capability of the hand enabling some degree of manipulation capability.
Payload is not very high
Università di Pisa
Feb 1, 2023
Franka Emika Panda
This product has been used as an end-effector for a Teaching by Demonstration learning system applied to robotic manipulators. It was chosen as an end-effector for its anthropomorphic form since the robot had to reproduce a manipulation task demonstrated by the human user. It was used for multiple tasks such as stacking, sorting, pick and place, drawing and following a wire with a loop.
ROS compatible. It can be used with a variety of robots such as the Franka Emika Panda robot. It's easy to control since it has only one actuator. Its soft nature allows the grasping of a wide range of objects, the hand adapts to the grasped object.
To perform effective grasps and avoid losing the object during manipulation, the best grasp pose has to be carefully studied and sometimes it may result in an unnatural grasp for a human being. A force sensor is not included, so the user has to carefully set the desired force in order to manipulate fragile objects. It has a payload of 1.7kg.