The PRISMA Hand II: A Sensorized Robust Hand for Adaptive Grasp and In-Hand Manipulation

The PRISMA Hand II is a mechanically robust anthropomorphic hand, with a highly underactuated structure with 3 motors that drive 19 joints via elastic tendons. The me- chanical design allows the hand to perform adaptive grasps and in-hand manipulation. Each fingertip integrates a tactile/force sensor based on optoelectronic technology, providing tactile/force feedback during grasping and manipulation, particularly useful with deformable objects. The abstract describes the mechanical design, sensor technology of the hand, and a calibration proce- dure for tactile/force sensors. Ultimately, an experimental session shows the effectiveness of the proposed calibrated sensors