Fig. 2: Hardware of F-TAC Hand.
From: Embedding high-resolution touch across robotic hands enables adaptive human-like grasping
a, The seamless integration of 17 vision-based sensors in six configurations, maintaining 15 DoFs—three per finger—and adult hand dimensions. Each sensor includes a streamlined camera module for efficient tactile data acquisition in confined space. PCB, printed circuit board. b, F-TAC Hand demonstrates its strength by holding a 2.5-kg dumbbell; each phalanx contributes to a total grasping force of 10.3 N. c, Schematic representation of a finger, with Kn, θn and F denoting joint stiffness, rotation angle and cable force, respectively. Offsets in rotation due to cable and joint alignment are also shown. d, Top-down-view comparison of F-TAC Hand and human finger flexion. e, Despite the numerous sensors, F-TAC Hand retains its mobility, as evidenced by a successful Kapandji test23, where the thumb fingertip sequentially touches specific points on the hand as numbered in the figure. PP, proximal phalanx; MP, middle phalanx; DIP, distal interphalangeal; PIP, proximal interphalangeal; MCP, metacarpophalangeal.
