robotics
A Robot Hand Recovered Its Grip Without Palm Tactile Sensors
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.
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.
Limits and context
- 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.
Key claims
A controller recomputed forces as contact moved across a 27-degree-of-freedom arm and hand.
Qualification: In simulation it retained grasps better than fixed-allocation and fingertip-only baselines under controlled perturbations.
Evidence: source-2026-09-25-008
Sources
- arXiv preprint 2609.30082arXiv · primary research
Corrections
No corrections have been recorded for this story.