Spatially distributed biomimetic compliance enables robust anthropomorphic robotic manipulation
Abstract The impressive capabilities of humans to robustly perform manipulation stems from compliant interactions, enabled by the structure and materials distributed in the hands. We propose that mimicking this spatially distributed compliance in an anthropomorphic robotic hand enhances open-loop ma...
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| Format: | Article |
| Language: | English |
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Nature Portfolio
2025-04-01
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| Series: | Communications Engineering |
| Online Access: | https://doi.org/10.1038/s44172-025-00407-4 |
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| _version_ | 1849713004211339264 |
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| author | Kai Junge Josie Hughes |
| author_facet | Kai Junge Josie Hughes |
| author_sort | Kai Junge |
| collection | DOAJ |
| description | Abstract The impressive capabilities of humans to robustly perform manipulation stems from compliant interactions, enabled by the structure and materials distributed in the hands. We propose that mimicking this spatially distributed compliance in an anthropomorphic robotic hand enhances open-loop manipulation robustness and leads to human-like behaviors. Here we introduce the ADAPT Hand, equipped with configurable compliant elements on the skin, fingers, and wrist. After quantifying the effect of compliance on individual components against a rigid configuration, we experimentally analyze the performance of the full hand. Through automated pick-and-place tests, we show the grasping robustness mirrors the estimated geometric theoretical limit, while stress-testing the robot to perform 800+ grasps. Finally, 24 items with varying geometries are grasped in a constrained environment with a 93% success rate. We demonstrate that the hand-object self-organization behavior, driven by passive adaptation, underpins this robustness. The hand exhibits different grasp types based on object geometries, with a 68% similarity to natural human grasps. |
| format | Article |
| id | doaj-art-fa83330dc13b4b2abb326217deb522ac |
| institution | DOAJ |
| issn | 2731-3395 |
| language | English |
| publishDate | 2025-04-01 |
| publisher | Nature Portfolio |
| record_format | Article |
| series | Communications Engineering |
| spelling | doaj-art-fa83330dc13b4b2abb326217deb522ac2025-08-20T03:14:06ZengNature PortfolioCommunications Engineering2731-33952025-04-014111310.1038/s44172-025-00407-4Spatially distributed biomimetic compliance enables robust anthropomorphic robotic manipulationKai Junge0Josie Hughes1CREATE Lab, EPFLCREATE Lab, EPFLAbstract The impressive capabilities of humans to robustly perform manipulation stems from compliant interactions, enabled by the structure and materials distributed in the hands. We propose that mimicking this spatially distributed compliance in an anthropomorphic robotic hand enhances open-loop manipulation robustness and leads to human-like behaviors. Here we introduce the ADAPT Hand, equipped with configurable compliant elements on the skin, fingers, and wrist. After quantifying the effect of compliance on individual components against a rigid configuration, we experimentally analyze the performance of the full hand. Through automated pick-and-place tests, we show the grasping robustness mirrors the estimated geometric theoretical limit, while stress-testing the robot to perform 800+ grasps. Finally, 24 items with varying geometries are grasped in a constrained environment with a 93% success rate. We demonstrate that the hand-object self-organization behavior, driven by passive adaptation, underpins this robustness. The hand exhibits different grasp types based on object geometries, with a 68% similarity to natural human grasps.https://doi.org/10.1038/s44172-025-00407-4 |
| spellingShingle | Kai Junge Josie Hughes Spatially distributed biomimetic compliance enables robust anthropomorphic robotic manipulation Communications Engineering |
| title | Spatially distributed biomimetic compliance enables robust anthropomorphic robotic manipulation |
| title_full | Spatially distributed biomimetic compliance enables robust anthropomorphic robotic manipulation |
| title_fullStr | Spatially distributed biomimetic compliance enables robust anthropomorphic robotic manipulation |
| title_full_unstemmed | Spatially distributed biomimetic compliance enables robust anthropomorphic robotic manipulation |
| title_short | Spatially distributed biomimetic compliance enables robust anthropomorphic robotic manipulation |
| title_sort | spatially distributed biomimetic compliance enables robust anthropomorphic robotic manipulation |
| url | https://doi.org/10.1038/s44172-025-00407-4 |
| work_keys_str_mv | AT kaijunge spatiallydistributedbiomimeticcomplianceenablesrobustanthropomorphicroboticmanipulation AT josiehughes spatiallydistributedbiomimeticcomplianceenablesrobustanthropomorphicroboticmanipulation |