Rigidity-Based Multi-Finger Coordination for Precise In-Hand Manipulation of Force-Sensitive Objects
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arXiv
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| Autori principali: | , , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2026
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| Soggetti: | |
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| _version_ | 1866911449678348288 |
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| author | Rong, Xinan Wan, Changhuang He, Aochen Li, Xiaolong Jing, Gangshan |
| author_facet | Rong, Xinan Wan, Changhuang He, Aochen Li, Xiaolong Jing, Gangshan |
| contents | Precise in-hand manipulation of force-sensitive objects typically requires judicious coordinated force planning as well as accurate contact force feedback and control. Unlike multi-arm platforms with gripper end effectors, multi-fingered hands rely solely on fingertip point contacts and are not able to apply pull forces, therefore poses a more challenging problem. Furthermore, calibrated torque sensors are lacking in most commercial dexterous hands, adding to the difficulty. To address these challenges, we propose a dual-layer framework for multi-finger coordination, enabling high-precision manipulation of force-sensitive objects through joint control without tactile feedback. This approach solves coordinated contact force planning by incorporating graph rigidity and force closure constraints. By employing a force-to-position mapping, the planned force trajectory is converted to a joint trajectory. We validate the framework on a custom dexterous hand, demonstrating the capability to manipulate fragile objects-including a soft yarn, a plastic cup, and a raw egg-with high precision and safety. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2602_14104 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Rigidity-Based Multi-Finger Coordination for Precise In-Hand Manipulation of Force-Sensitive Objects Rong, Xinan Wan, Changhuang He, Aochen Li, Xiaolong Jing, Gangshan Robotics Systems and Control Precise in-hand manipulation of force-sensitive objects typically requires judicious coordinated force planning as well as accurate contact force feedback and control. Unlike multi-arm platforms with gripper end effectors, multi-fingered hands rely solely on fingertip point contacts and are not able to apply pull forces, therefore poses a more challenging problem. Furthermore, calibrated torque sensors are lacking in most commercial dexterous hands, adding to the difficulty. To address these challenges, we propose a dual-layer framework for multi-finger coordination, enabling high-precision manipulation of force-sensitive objects through joint control without tactile feedback. This approach solves coordinated contact force planning by incorporating graph rigidity and force closure constraints. By employing a force-to-position mapping, the planned force trajectory is converted to a joint trajectory. We validate the framework on a custom dexterous hand, demonstrating the capability to manipulate fragile objects-including a soft yarn, a plastic cup, and a raw egg-with high precision and safety. |
| title | Rigidity-Based Multi-Finger Coordination for Precise In-Hand Manipulation of Force-Sensitive Objects |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2602.14104 |