PLATO Hand: Shaping Contact Behavior with Fingernails for Precise Manipulation
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arXiv
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| Auteurs principaux: | , , , , , |
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| Format: | Preprint |
| Publié: |
2026
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| _version_ | 1866911693525745664 |
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| author | Kang, Dong Ho Kim, Aaron Seo, Mingyo Yokoyama, Kazuto Narita, Tetsuya Sentis, Luis |
| author_facet | Kang, Dong Ho Kim, Aaron Seo, Mingyo Yokoyama, Kazuto Narita, Tetsuya Sentis, Luis |
| contents | 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 |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2602_05156 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | PLATO Hand: Shaping Contact Behavior with Fingernails for Precise Manipulation Kang, Dong Ho Kim, Aaron Seo, Mingyo Yokoyama, Kazuto Narita, Tetsuya Sentis, Luis Robotics Systems and Control 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 |
| title | PLATO Hand: Shaping Contact Behavior with Fingernails for Precise Manipulation |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2602.05156 |