{
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  "story": {
    "story_id": "mp-2026-09-25-008",
    "source_story_id": "tmp-story-whole-hand-real-time-force-regulation",
    "edition_id": "mp-2026-09-25-morning-0078",
    "edition_url": "https://themachinepress.com/edition/2026-09-25",
    "position": 8,
    "story_type": "dispatch",
    "section": "robotics",
    "editorial_classification": "editorial",
    "headline": "A Robot Hand Recovered Its Grip Without Palm Tactile Sensors",
    "slug": "a-robot-hand-recovered-its-grip-without-palm-tactile-sensors",
    "dek": "A controller recomputed forces as contact moved across a 27-degree-of-freedom arm and hand.",
    "summary": "A controller recomputed forces as contact moved across a 27-degree-of-freedom arm and hand.",
    "body_text": "The controller estimates whole-hand contacts from a tracked object model and proprioception, then repeatedly reallocates forces under friction, actuator and consistency constraints. In simulation it retained grasps better than fixed-allocation and fingertip-only baselines under controlled perturbations. Hardware experiments on a 27-degree-of-freedom arm-hand system showed grasp maintenance and regrasping after human-applied disturbances as contacts moved across the hand; the tests do not establish performance across arbitrary objects or untracked scenes.",
    "why_it_matters": "A controller recomputed forces as contact moved across a 27-degree-of-freedom arm and hand.",
    "limitations": [
      "In simulation it retained grasps better than fixed-allocation and fingertip-only baselines under controlled perturbations.",
      "Hardware experiments on a 27-degree-of-freedom arm-hand system showed grasp maintenance and regrasping after human-applied disturbances as contacts moved across the hand; the tests do not establish performance across arbitrary objects or untracked scenes."
    ],
    "importance": 9,
    "canonical_url": "https://themachinepress.com/story/mp-2026-09-25-008/a-robot-hand-recovered-its-grip-without-palm-tactile-sensors",
    "json_url": "https://themachinepress.com/story/mp-2026-09-25-008.json",
    "first_published_at": "2026-09-25T09:00:00.000-04:00",
    "modified_at": "2026-09-25T09:00:00.000-04:00",
    "content_status": "new",
    "is_carryover": false,
    "carryover_reason": null,
    "key_claims": [
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        "claim_id": "claim-mp-2026-09-25-008-001",
        "text": "A controller recomputed forces as contact moved across a 27-degree-of-freedom arm and hand.",
        "source_ids": [
          "source-2026-09-25-008"
        ],
        "qualification": "In simulation it retained grasps better than fixed-allocation and fingertip-only baselines under controlled perturbations."
      }
    ],
    "source_ids": [
      "source-2026-09-25-008"
    ],
    "tags": [
      "dexterous grasping",
      "force control",
      "robot hand"
    ],
    "image_url": "https://themachinepress.com/issues/2026-09-25/whole-hand-robot-arm-file.webp",
    "corrections": []
  },
  "sources": [
    {
      "source_id": "source-2026-09-25-008",
      "title": "arXiv preprint 2609.30082",
      "publisher": "arXiv",
      "url": "https://arxiv.org/abs/2609.30082",
      "canonical_url": "https://arxiv.org/abs/2609.30082",
      "source_type": "primary_research",
      "is_primary_source": true,
      "published_at": "2026-09-24T12:31:51.000-04:00",
      "accessed_at": "2026-09-25T08:29:03.434-04:00",
      "supports_claim_ids": [
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  "corrections": [],
  "publisher": {
    "name": "The Machine Press",
    "url": "https://themachinepress.com",
    "description": "A daily newspaper for the age of artificial intelligence."
  },
  "cite_this_report": {
    "title": "A Robot Hand Recovered Its Grip Without Palm Tactile Sensors",
    "publisher": "The Machine Press",
    "published_at": "2026-09-25T09:00:00.000-04:00",
    "canonical_url": "https://themachinepress.com/story/mp-2026-09-25-008/a-robot-hand-recovered-its-grip-without-palm-tactile-sensors"
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