We present the PLATO Hand, a dexterous robotic hand with a hybrid fingertip that embeds a rigid fingernail within a compliant pulp. This design shapes contact behavior to enable diverse interaction modes across a range of object geometries. We develop a strain-energy-based bending-indentation model to guide the fingertip design and to explain how guided contact preserves local indentation while suppressing global bending. Experimental results show that the proposed robotic hand design demonstrates improved pinching stability, enhanced force observability, and successful execution of edge-sensitive manipulation tasks, including paper singulation, card picking, and orange peeling. Together, these results show that coupling structured contact geometry with a force-motion transparent mechanism provides a principled, physically embodied approach to precise manipulation.

翻译：本文提出PLATO Hand——一种灵巧的机器人手，其混合指尖设计将刚性指甲嵌入柔性指腹中。该设计通过塑造接触行为，实现在多种物体几何形态下的多样化交互模式。我们建立了基于应变能的弯曲-压痕模型，用以指导指尖设计，并解释定向接触如何保持局部压痕同时抑制整体弯曲。实验结果表明，所提出的机器人手设计展现出更高的捏取稳定性、增强的力观测能力，并能成功执行对边缘敏感的操控任务，包括纸张分离、卡片拾取和橙子剥皮。这些结果共同表明，将结构化接触几何与力-运动透明机制相结合，为精确操控提供了一种基于原理的物理实体化实现途径。