Designing Anthropomorphic Soft Hands through Interaction Article Swipe
Pragna Mannam
,
Kenneth Shaw
,
Dominik Bauer
,
Jean Oh
,
Deepak Pathak
,
Nancy S. Pollard
·
YOU?
·
· 2023
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.2306.04784
YOU?
·
· 2023
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.2306.04784
Modeling and simulating soft robot hands can aid in design iteration for complex and high degree-of-freedom (DoF) morphologies. This can be further supplemented by iterating on the design based on its performance in real world manipulation tasks. However, iterating in the real world requires an approach that allows us to test new designs quickly at low costs. In this paper, we leverage rapid prototyping of the hand using 3D-printing, and utilize teleoperation to evaluate the hand in real world manipulation tasks. Using this method, we design a 3D-printed 16-DoF dexterous anthropomorphic soft hand (DASH) and iteratively improve its design over five iterations. Rapid prototyping techniques such as 3D-printing allow us to directly evaluate the fabricated hand without modeling it in simulation. We show that the design improves over five design iterations through evaluating the hand's performance in 30 real-world teleoperated manipulation tasks. Testing over 900 demonstrations shows that our final version of DASH can solve 19 of the 30 tasks compared to Allegro, a popular rigid hand in the market, which can only solve 7 tasks. We open-source our CAD models as well as the teleoperated dataset for further study.
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Metadata
- Type
- preprint
- Language
- en
- Landing Page
- http://arxiv.org/abs/2306.04784
- https://arxiv.org/pdf/2306.04784
- OA Status
- green
- Cited By
- 1
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W4380136122
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W4380136122Canonical identifier for this work in OpenAlex
- DOI
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https://doi.org/10.48550/arxiv.2306.04784Digital Object Identifier
- Title
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Designing Anthropomorphic Soft Hands through InteractionWork title
- Type
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preprintOpenAlex work type
- Language
-
enPrimary language
- Publication year
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2023Year of publication
- Publication date
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2023-06-07Full publication date if available
- Authors
-
Pragna Mannam, Kenneth Shaw, Dominik Bauer, Jean Oh, Deepak Pathak, Nancy S. PollardList of authors in order
- Landing page
-
https://arxiv.org/abs/2306.04784Publisher landing page
- PDF URL
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https://arxiv.org/pdf/2306.04784Direct link to full text PDF
- Open access
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YesWhether a free full text is available
- OA status
-
greenOpen access status per OpenAlex
- OA URL
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https://arxiv.org/pdf/2306.04784Direct OA link when available
- Concepts
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Teleoperation, Computer science, Leverage (statistics), Dash, Rapid prototyping, Iterative design, Simulation, Human–computer interaction, Robot, Artificial intelligence, Engineering, Compatibility (geochemistry), Mechanical engineering, Operating system, Chemical engineeringTop concepts (fields/topics) attached by OpenAlex
- Cited by
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1Total citation count in OpenAlex
- Citations by year (recent)
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2025: 1Per-year citation counts (last 5 years)
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10Other works algorithmically related by OpenAlex
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| abstract_inverted_index.improves | 126 |
| abstract_inverted_index.leverage | 61 |
| abstract_inverted_index.modeling | 117 |
| abstract_inverted_index.requires | 43 |
| abstract_inverted_index.dexterous | 89 |
| abstract_inverted_index.iterating | 24, 38 |
| abstract_inverted_index.iteration | 10 |
| abstract_inverted_index.3D-printed | 87 |
| abstract_inverted_index.evaluating | 132 |
| abstract_inverted_index.fabricated | 114 |
| abstract_inverted_index.iterations | 130 |
| abstract_inverted_index.real-world | 138 |
| abstract_inverted_index.simulating | 2 |
| abstract_inverted_index.techniques | 104 |
| abstract_inverted_index.3D-printing | 107 |
| abstract_inverted_index.iterations. | 101 |
| abstract_inverted_index.iteratively | 95 |
| abstract_inverted_index.open-source | 177 |
| abstract_inverted_index.performance | 31, 135 |
| abstract_inverted_index.prototyping | 63, 103 |
| abstract_inverted_index.simulation. | 120 |
| abstract_inverted_index.3D-printing, | 68 |
| abstract_inverted_index.manipulation | 35, 79, 140 |
| abstract_inverted_index.supplemented | 22 |
| abstract_inverted_index.teleoperated | 139, 185 |
| abstract_inverted_index.morphologies. | 17 |
| abstract_inverted_index.teleoperation | 71 |
| abstract_inverted_index.demonstrations | 145 |
| abstract_inverted_index.anthropomorphic | 90 |
| abstract_inverted_index.degree-of-freedom | 15 |
| cited_by_percentile_year.max | 95 |
| cited_by_percentile_year.min | 91 |
| countries_distinct_count | 0 |
| institutions_distinct_count | 6 |
| sustainable_development_goals[0].id | https://metadata.un.org/sdg/16 |
| sustainable_development_goals[0].score | 0.800000011920929 |
| sustainable_development_goals[0].display_name | Peace, Justice and strong institutions |
| citation_normalized_percentile.value | 0.47198055 |
| citation_normalized_percentile.is_in_top_1_percent | False |
| citation_normalized_percentile.is_in_top_10_percent | False |