A Soft Humanoid Hand with In-Finger Visual Perception
Felix Hundhausen,Julia Starke,Tamim Asfour,Felix Hundhausen,Julia Starke,Tamim Asfour
We present a novel underactued humanoid five finger soft hand, the KIT Finger-Vision Soft Hand, which is equipped with cameras in the fingertips and integrates a high performance embedded system for visual processing and control. We describe the actuation mechanism of the hand and the tendon-driven soft finger design with internally routed high-bandwidth flat-flex cables. For efficient on-board pa...
