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Soft robotic hand with tactile palm-finger coordination

Author

Listed:
  • Ningbin Zhang

    (Shanghai Jiao Tong University)

  • Jieji Ren

    (Shanghai Jiao Tong University)

  • Yueshi Dong

    (Shanghai Jiao Tong University)

  • Xinyu Yang

    (Shanghai Jiao Tong University)

  • Rong Bian

    (Shanghai Jiao Tong University)

  • Jinhao Li

    (Shanghai Jiao Tong University)

  • Guoying Gu

    (Shanghai Jiao Tong University
    Shanghai Jiao Tong University
    Shanghai Jiao Tong University)

  • Xiangyang Zhu

    (Shanghai Jiao Tong University
    Shanghai Jiao Tong University
    Shanghai Jiao Tong University)

Abstract

Soft robotic hands with integrated sensing capabilities hold great potential for interactive operations. Previous work has typically focused on integrating sensors with fingers. The palm, as a large and crucial contact region providing mechanical support and sensory feedback, remains underexplored due to the currently limited sensing density and interaction with the fingers. Here, we develop a sensorized robotic hand that integrates a high-density tactile palm, dexterous soft fingers, and cooperative palm-finger interaction strategies. The palm features a compact visual-tactile design to capture delicate contact information. The soft fingers are designed as fiber-reinforced pneumatic actuators, each providing two-segment motions for multimodal grasping. These features enable extensive palm-finger interactions, offering mutual benefits such as improved grasping stability, automatic exquisite surface reconstruction, and accurate object classification. We also develop palm-finger feedback strategies to enable dynamic tasks, including planar object pickup, continuous flaw detection, and grasping pose adjustment. Furthermore, our development, augmented by artificial intelligence, shows improved potential for human-robot collaboration. Our results suggest the promise of fusing rich palm tactile sensing with soft dexterous fingers for advanced interactive robotic operations.

Suggested Citation

  • Ningbin Zhang & Jieji Ren & Yueshi Dong & Xinyu Yang & Rong Bian & Jinhao Li & Guoying Gu & Xiangyang Zhu, 2025. "Soft robotic hand with tactile palm-finger coordination," Nature Communications, Nature, vol. 16(1), pages 1-14, December.
  • Handle: RePEc:nat:natcom:v:16:y:2025:i:1:d:10.1038_s41467-025-57741-6
    DOI: 10.1038/s41467-025-57741-6
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    References listed on IDEAS

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    1. Guorui Li & Xiangping Chen & Fanghao Zhou & Yiming Liang & Youhua Xiao & Xunuo Cao & Zhen Zhang & Mingqi Zhang & Baosheng Wu & Shunyu Yin & Yi Xu & Hongbo Fan & Zheng Chen & Wei Song & Wenjing Yang & , 2021. "Self-powered soft robot in the Mariana Trench," Nature, Nature, vol. 591(7848), pages 66-71, March.
    2. Uikyum Kim & Dawoon Jung & Heeyoen Jeong & Jongwoo Park & Hyun-Mok Jung & Joono Cheong & Hyouk Ryeol Choi & Hyunmin Do & Chanhun Park, 2021. "Integrated linkage-driven dexterous anthropomorphic robotic hand," Nature Communications, Nature, vol. 12(1), pages 1-13, December.
    3. Robert Baines & Sree Kalyan Patiballa & Joran Booth & Luis Ramirez & Thomas Sipple & Andonny Garcia & Frank Fish & Rebecca Kramer-Bottiglio, 2022. "Multi-environment robotic transitions through adaptive morphogenesis," Nature, Nature, vol. 610(7931), pages 283-289, October.
    4. Daniela Rus & Michael T. Tolley, 2015. "Design, fabrication and control of soft robots," Nature, Nature, vol. 521(7553), pages 467-475, May.
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