Conventional industrial robots often use two-fingered grippers or suction cups to manipulate objects or interact with the world. Because of their simplified design, they are unable to reproduce the dexterity of human hands when manipulating a wide range of objects. While the control of humanoid hands evolved greatly, hardware platforms still lack capabilities, particularly in tactile sensing and providing soft contact surfaces. In this work, we present a method that equips the skeleton of a tendon-driven humanoid hand with a soft and sensorized tactile skin. Multi-material 3D printing allows us to iteratively approach a cast skin design which preserves the robot's dexterity in terms of range of motion and speed. We demonstrate that a soft skin enables firmer grasps and piezoresistive sensor integration enhances the hand's tactile sensing capabilities.

翻译：传统工业机器人通常使用双指夹持器或吸盘来操纵物体或与环境交互。由于其简化设计，它们在操纵各类物体时无法复现人类手的灵巧性。尽管仿人手控制技术已取得显著进展，但硬件平台在触觉感知和提供柔软接触表面方面仍能力不足。本文提出一种方法，为腱驱动仿人手机械骨架配备柔软且集成传感器的触觉皮肤。通过多材料3D打印技术，我们能够迭代优化接近铸造式皮肤设计，在保持机器人运动范围和速度灵巧性的前提下，证明软质皮肤可实现更稳固的抓取，同时压阻传感器集成增强了手部的触觉感知能力。