semantic_scholarIEEE Robotics and Automation Letters2026-08-01
Integrated by Design: A Hybrid Robotic Palm Fusing a Functionally-Dense Compliant Matrix With an Actuated Skeleton
O. Neumann, L. Ewering, Robert K. Katzschmann
Inspired by the human hand, this work presents a hybrid soft-rigid architecture for a robotic palm to enhance dexterity and robustness. While soft-robotic hands often lack the structural integrity to handle heavy objects, classical rigid designs are sensitive to impacts and frequ…