We present the PLATO Hand, a dexterous robotic hand with a hybrid fingertip that combines a rigid fingernail, embedded distal phalanx, and compliant pulp to shape contact behavior during manipulation. \rrev{By mechanically organizing how contact is initiated, supported, and transmitted at the fingertip, this structure creates stable and task-relevant contact conditions across diverse object geometries and grasp orientations.} We develop a strain-energy-based bending--indentation model to guide the fingertip design and to explain how material stiffness and contact geometry govern deformation partitioning within the fingertip. \rrev{Experiments show improved pinch stability, improved fingernail-mediated dorsal-contact force transmission and proprioceptive observability}, and successful execution of edge-sensitive manipulation tasks, including paper singulation, card picking, and orange peeling. These results show that coupling a mechanically structured contact interface with a force-motion-transparent finger mechanism provides a principled approach to precise manipulation. Our project page is at: https://platohand.github.io

翻译：我们提出PLATO手，一种灵巧的机器人手，其指尖采用混合结构——由刚性指甲、嵌入的远节指骨和柔顺指髓组成，用于在操控过程中塑造接触行为。通过机械组织指尖处接触的建立、支撑和传递方式，该结构能够在不同物体几何形状和抓取方向下形成稳定且与任务相关的接触条件。我们建立了一个基于应变能的弯曲-压痕模型来指导指尖设计，并解释材料刚度和接触几何如何控制指尖内部的变形分配。实验表明，该设计提升了捏合稳定性，改善了指甲介导的背侧接触力传递和本体感知可观测性，并成功执行了对边缘敏感的操控任务，包括纸张分离、取牌和剥橘子。这些结果表明，将机械结构化的接触接口与力-运动透明的手指机制相结合，为实现精准操控提供了一种有原则的方法。我们的项目页面位于：https://platohand.github.io