This work presents design and experimental evaluation of CORA (COmpliant Robotic hAnd), a robotic hand designed for easy manufacturing and maintenance, and for robustness and compliance in real operational environments. It takes advantage of recent soft-polymer printable filaments to obtain intrinsic compliance during grasping and accidental contacts. All parts are designed and optimized for manufacturing with conventional fused deposition modeling 3D printers, in order to allow simple fabrication and replacement of parts. In this paper design of the CORA hand is presented, focusing on specific design solutions adopted for improving robustness of the final 3D printed parts and for obtaining compliance in interaction with the environment. A prototype of the CORA hand was built and experimentally tested in terms of grasping capabilities, measuring contact forces and the distributed grasping pressure. Compliance introduced by soft polymer links was evaluated with finite element method simulation and experimental bending tests. A collision test evidenced robustness of the finger mechanism and transmission to pronounced passive deformations, induced by lateral contacts possibly occurring in common manipulation tasks.
This is a preview of subscription content, log in to check access.
Buy single article
Instant access to the full article PDF.
Price includes VAT for USA
Pavlichenko D, Rodriguez D, Schwarz M, Lenz C, Periyasamy AS, Behnke S (2018) Autonomous dual-arm manipulation of familiar objects. In: 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids). IEEE. pp. 1–9
Klamt T, Schwarz M, Lenz C, Baccelliere L, Buongiorno D, Cichon T, DiGuardo A, Droeschel D, Gabardi M, Kamedula M, et al. (2019) Remote mobile manipulation with the centauro robot: full-body telepresence and autonomous operator assistance. J Field Robot
Controzzi M, Clemente F, Barone D, Ghionzoli A, Cipriani C (2016) The sssa-myhand: a dexterous lightweight myoelectric hand prosthesis. IEEE Trans Neural Syst Rehabilit Eng 25(5):459–468
Melchiorri C, Palli G, Berselli G, Vassura G (2013) Development of the ub hand iv: overview of design solutions and enabling technologies. IEEE Robot Autom Mag 20(3):72–81
Rothling F, Haschke R, Steil JJ, Ritter H (2007) Platform portable anthropomorphic grasping with the bielefeld 20-dof shadow and 9-dof tum hand. In: 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE. pp. 2951–2956
Kawasaki H, Komatsu T, Uchiyama K (2002) Dexterous anthropomorphic robot hand with distributed tactile sensor: Gifu hand ii. IEEE/ASME Trans Mechatron 7(3):296–303
Rodriguez D, Di Guardo A, Frisoli A, Behnke S (2018) Learning postural synergies for categorical grasping through shape space registration. In: 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids). IEEE. pp. 270–276
Ren Z, Zhou C, Xin S, Tsagarakis N (2017) Heri hand: A quasi dexterous and powerful hand with asymmetrical finger dimensions and under actuation. In: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE. pp. 322–328
Wang L, DelPreto J, Bhattacharyya S, Weisz J, Allen PK (2011) A highly-underactuated robotic hand with force and joint angle sensors. In: 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE. pp. 1380–1385
Cipriani C, Controzzi M, Carrozza MC (2011) The smarthand transradial prosthesis. J Neuroeng Rehabilit 8(1):29
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(5):768–782
Della Santina C, Piazza C, Grioli G, Catalano M G, Bicchi A (2018) Toward dexterous manipulation with augmented adaptive synergies: the pisa/iit softhand 2. IEEE Trans Robot 99:1–16
Grebenstein M, Chalon M, Friedl W, Haddadin S, Wimböck T, Hirzinger G, Siegwart R (2012) The hand of the dlr hand arm system: designed for interaction. Int J Robot Res 31(13):1531–1555
Tian L, Magnenat Thalmann N, Thalmann D, Zheng J (2017) The making of a 3d-printed, cable-driven, single-model, lightweight humanoid robotic hand. Front Robot AI 4:65
Kappassov Z, Khassanov Y, Saudabayev A, Shintemirov A, Varol HA (2013) Semi-anthropomorphic 3d printed multigrasp hand for industrial and service robots. In: 2013 IEEE International Conference on Mechatronics and Automation. IEEE. pp. 1697–1702
Friedl W, Höppner H, Schmidt F, Roa MA, Grebenstein M (2018) Clash: Compliant low cost antagonistic servo hands. In: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE. pp. 6469–6476
Ma R, Dollar A (2017) Yale openhand project: Optimizing open-source hand designs for ease of fabrication and adoption. IEEE Robot Autom Mag 24(1):32–40
Xu Z, Todorov E (2016) Design of a highly biomimetic anthropomorphic robotic hand towards artificial limb regeneration. In: 2016 IEEE International Conference on Robotics and Automation (ICRA). IEEE. pp. 3485–3492
Hussain I, Iqbal Z, Malvezzi M, Seneviratne L, Gan D, Prattichizzo D (2018) Modeling and prototyping of a soft prosthetic hand exploiting joint compliance and modularity. In: 2018 IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE. pp. 65–70
Liu H, Xu K, Siciliano B, Ficuciello F (2019) The mero hand: A mechanically robust anthropomorphic prosthetic hand using novel compliant rolling contact joint. In: 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM). IEEE. pp. 126–132
S R C. LTD. Shadow dexterous hand. In: https://www.shadowrobot.com/products/dexterous-hand/
GmbH S. Svh hand. In: https://schunk.com/iten/gripping-systems/highlights/svh/
Prensilia, Ih2 azzurra robotic hand. In: https://www.prensilia.com/portfolio/ih2-azzurra/
Robotics Q. Qb softhand research. In: https://qbrobotics.com/products/qb-softhand-research/
Bilancia P, Berselli G, Bruzzone L, Fanghella P (2019) A cad/cae integration framework for analyzing and designing spatial compliant mechanisms via pseudo-rigid-body methods. Robot Comput Integr Manuf 56:287–302
Ma RR, Odhner LU, Dollar AM (2013) A modular, open-source 3d printed underactuated hand. In: 2013 IEEE International Conference on Robotics and Automation. IEEE. pp. 2737–2743
Cerveri P, De Momi E, Marchente M, Lopomo N, Baud-Bovy G, Barros R, Ferrigno G (2008) In vivo validation of a realistic kinematic model for the trapezio-metacarpal joint using an optoelectronic system. Ann Biomed Eng 36(7):1268–1280
Barsotti M, Sotgiu E, Leonardis D, Sarac M, Sgherri G, Lamola G, Chiara F, Procopio C, Chisari C, Frisoli A (2016) A novel approach for upper limb robotic rehabilitation for stroke patients. In: International Conference on Human Haptic Sensing and Touch Enabled Computer Applications. Springer. pp. 459–469
Conflict of interest
No external fundings were used for this work. Authors declare that they have no conflict of interest.
Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.
About this article
Cite this article
Leonardis, D., Frisoli, A. CORA hand: a 3D printed robotic hand designed for robustness and compliance. Meccanica 55, 1623–1638 (2020). https://doi.org/10.1007/s11012-020-01188-0