Haptic hands and grippers, designed to enable skillful object manipulation, are pivotal for high-precision interaction with environments. These technologies are particularly vital in fields such as minimally invasive surgery, where they enhance surgical accuracy and tactile feedback: in the development of advanced prosthetic limbs, offering users improved functionality and a more natural sense of touch, and within industrial automation and manufacturing, they contribute to more efficient, safe, and flexible production processes. This paper presents the development of a two-finger robotic hand that employs simple yet precise strategies to manipulate objects without damaging or dropping them. Our innovative approach fused force-sensitive resistor (FSR) sensors with the average current of servomotors to enhance both the speed and accuracy of grasping. Therefore, we aim to create a grasping mechanism that is more dexterous than grippers and less complex than robotic hands. To achieve this goal, we designed a two-finger robotic hand with two degrees of freedom on each finger; an FSR was integrated into each fingertip to enable object categorization and the detection of the initial contact. Subsequently, servomotor currents were monitored continuously to implement impedance control and maintain the grasp of objects in a wide range of stiffness. The proposed hand categorized objects’ stiffness upon initial contact and exerted accurate force by fusing FSR and the motor currents. An experimental test was conducted using a Yale–CMU–Berkeley (YCB) object set consisted of a foam ball, an empty soda can, an apple, a glass cup, a plastic cup, and a small milk packet. The robotic hand successfully picked up these objects from a table and sat them down without inflicting any damage or dropping them midway. Our results represent a significant step forward in developing haptic robotic hands with advanced object perception and manipulation capabilities.

中文翻译：

---

开发具有新型刚度检测和阻抗控制的两指触觉机械手

触觉手和抓手旨在实现熟练的物体操作，对于与环境的高精度交互至关重要。这些技术在微创手术等领域尤其重要，它们可以提高手术准确性和触觉反馈：在先进假肢的开发中，为用户提供改进的功能和更自然的触觉，在工业自动化和制造领域，它们有助于提高生产流程的效率、安全性和灵活性。本文介绍了一种两指机械手的开发，该机械手采用简单而精确的策略来操纵物体，而不会损坏或掉落它们。我们的创新方法将力敏电阻 (FSR) 传感器与伺服电机的平均电流融合在一起，以提高抓取的速度和准确性。因此，我们的目标是创造一种比机械手更灵巧、比机器人手更简单的抓取机制。为了实现这一目标，我们设计了一个两指机械手，每个手指都有两个自由度； FSR 被集成到每个指尖中，以实现对象分类和初始接触检测。随后，连续监测伺服电机电流以实施阻抗控制并保持对物体的抓取在较宽的刚度范围内。所提出的手动方法在初始接触时对物体的刚度进行分类，并通过融合 FSR 和电机电流来施加精确的力。使用耶鲁-卡内基梅隆大学-伯克利分校 (YCB) 对象组进行实验测试，该对象组由泡沫球、空汽水罐、苹果、玻璃杯、塑料杯和小牛奶包组成。机械手成功地从桌子上拿起这些物体并将它们坐下，没有造成任何损坏或中途掉落。我们的研究结果代表了在开发具有先进的物体感知和操纵能力的触觉机器人手方面向前迈出了重要一步。