{"id":1321,"date":"2014-07-13T07:10:58","date_gmt":"2014-07-13T07:10:58","guid":{"rendered":"http:\/\/www.handcorpus.org\/main\/?p=1321"},"modified":"2016-05-19T23:22:42","modified_gmt":"2016-05-19T23:22:42","slug":"unipi-dataset-july-2014","status":"publish","type":"post","link":"https:\/\/www.handcorpus.org\/?p=1321","title":{"rendered":"UNIPI-IIT SoftHand Robot Hand (July 2014)"},"content":{"rendered":"<p>Year: 2012<\/p>\n<p>Group(s): UNIPI, IIT<\/p>\n<p>Hand Type: Robot Hand<\/p>\n<p>Weight: 450 gr<\/p>\n<p><u>Dimensions (@rest position)<\/u><br \/>\nLength: 230 mm (from thumb to little finger tip); 235 mm (from the wrist basis to the middle finger tip)<br \/>\nThickness: 40 mm maximum at the palm <\/p>\n<p><u>Grasp ability<\/u><br \/>\nCylindrical power grasp: 25 N<br \/>\nMaximum Torque: 3 Nm<br \/>\nTime of Closure: Full closed from full open: < 1 s \n\n<u>Kinematics<\/u><br \/>\n# of Fingers: 5<br \/>\nOpposable Thumb: yes<br \/>\nTotal degrees of freedom: 19<br \/>\nRange of motion: 0 \u2013 90\u00b0<br \/>\nCompliant fingers: yes<br \/>\nAnthropomorphism: yes<\/p>\n<p><u>Actuation Type<\/u><br \/>\nType of motors: Brushed DC<br \/>\nBack-drivable mechanisms: yes<br \/>\nUnderactuation: yes<br \/>\nTendons: yes<br \/>\nNumber of motor(s): 1 <\/p>\n<p><u>Sensory system<\/u><br \/>\nForce sensors: no<br \/>\nPosition sensors: yes<br \/>\nCurrent sensors: yes<\/p>\n<p><u>Implemented Control Schemes<\/u><br \/>\nPosition: yes<br \/>\nCurrent: yes<br \/>\nForce: no<\/p>\n<p>Power requirements: 24 V<\/p>\n<p><u>Material:<\/u> Mixed<\/p>\n<p><u>Cost:<\/u> 7000 Euros<\/p>\n<p>All CAD files are freely available at <a href=\"http:\/\/www.naturalmachinemotioninitiative.com\">www.naturalmachinemotioninitiative.com<\/a>.<\/p>\n<p><b>How to cite:<\/b><\/p>\n<p>M.G. Catalano, G.Grioli, E. Farnioli, A. Serio, C. Piazza, A. Bicchi. Adaptive Synergies for the Design and Control of the Pisa\/IIT SoftHand. In International Journal of Robotics Research. 33 no. 5 768-782. 2014.<\/p>\n<p>Photo:<br \/>\n<center><br \/>\n<img decoding=\"async\" src=\"http:\/\/www.handcorpus.org\/pisaiit_softhand.png\" width=\"40%\"><\/img><br \/>\n<\/center><\/p>\n","protected":false},"excerpt":{"rendered":"<p>Year: 2012 Group(s): UNIPI, IIT Hand Type: Robot Hand Weight: 450 gr Dimensions (@rest position) Length: 230 mm (from thumb to little finger tip); 235 mm (from the wrist basis to the middle finger tip) Thickness: 40 mm maximum at the palm Grasp ability Cylindrical power grasp: 25 N Maximum Torque: 3 Nm Time of<a href=\"https:\/\/www.handcorpus.org\/?p=1321\">[&#8230;]<\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":[],"categories":[99],"tags":[94,32,34,91,67,127,129,89,132,87,88,92,131,24,130,90,6],"_links":{"self":[{"href":"https:\/\/www.handcorpus.org\/index.php?rest_route=\/wp\/v2\/posts\/1321"}],"collection":[{"href":"https:\/\/www.handcorpus.org\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.handcorpus.org\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.handcorpus.org\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.handcorpus.org\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=1321"}],"version-history":[{"count":23,"href":"https:\/\/www.handcorpus.org\/index.php?rest_route=\/wp\/v2\/posts\/1321\/revisions"}],"predecessor-version":[{"id":1762,"href":"https:\/\/www.handcorpus.org\/index.php?rest_route=\/wp\/v2\/posts\/1321\/revisions\/1762"}],"wp:attachment":[{"href":"https:\/\/www.handcorpus.org\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=1321"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.handcorpus.org\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=1321"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.handcorpus.org\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=1321"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}