Precise in-hand manipulation of force-sensitive objects typically requires judicious coordinated force planning as well as accurate contact force feedback and control. Unlike multi-arm platforms with gripper end effectors, multi-fingered hands rely solely on fingertip point contacts and are not able to apply pull forces, therefore poses a more challenging problem. Furthermore, calibrated torque sensors are lacking in most commercial dexterous hands, adding to the difficulty. To address these challenges, we propose a dual-layer framework for multi-finger coordination, enabling high-precision manipulation of force-sensitive objects through joint control without tactile feedback. This approach solves coordinated contact force planning by incorporating graph rigidity and force closure constraints. By employing a force-to-position mapping, the planned force trajectory is converted to a joint trajectory. We validate the framework on a custom dexterous hand, demonstrating the capability to manipulate fragile objects-including a soft yarn, a plastic cup, and a raw egg-with high precision and safety.

翻译：力敏物体的精确手内操作通常需要审慎的协调力规划以及精确的接触力反馈与控制。与配备夹爪末端执行器的多臂平台不同，多指手仅依赖指尖点接触且无法施加拉力，因此构成了更具挑战性的问题。此外，大多数商用灵巧手缺乏经过标定的扭矩传感器，进一步增加了难度。为应对这些挑战，我们提出了一种用于多指协调的双层框架，通过关节控制实现力敏物体的高精度操作，而无需触觉反馈。该方法通过结合图刚度与力封闭约束，解决了协调接触力规划问题。通过采用力-位置映射，将规划的力轨迹转换为关节轨迹。我们在定制的灵巧手上验证了该框架，展示了其能够以高精度和安全性操作易碎物体——包括软纱线、塑料杯和生鸡蛋。