ARISTO Hand: Sensing-Driven Distal Hyperextension for Fine-Grained Manipulation

2026-05-28

AI Summary

This work addresses the challenge of achieving precise contact geometry modeling and reliable force perception when humanoid robotic hands manipulate thin objects. The authors propose a tendon-driven dexterous hand featuring an active distal hyperextension mechanism that overcomes conventional flexion kinematic limitations. A hybrid fingertip sensing architecture is integrated, combining rigid six-axis force/torque sensors mounted beneath artificial nails with flexible capacitive tactile arrays. This design significantly enhances force perception reliability during edge contacts, yielding a 2.76-fold increase in pull-out force on objects 1–20 mm thick while preserving standard grasping capabilities. The system’s efficacy and robustness in fine manipulation are validated through successful execution of a multi-stage SD card insertion and extraction task.

Abstract

Manipulating thin objects requires precise contact geometry and reliable force perception, yet many anthropomorphic robotic hands lack the mechanical and sensing capabilities needed for such interactions. We present the ARISTO Hand, a tendon-driven robotic hand that integrates active distal hyperextension with a hybrid fingertip-sensing architecture that combines a rigid, nail-mounted force-torque sensor and a soft capacitive tactile array. Active hyperextension enables controlled fingertip engagement beyond the kinematic limits of standard flexion, increasing pull-out force by 2.76x for object thicknesses of 1-20 mm while preserving the nominal grasp capability. The rigid nail-mounted sensor provides reliable force measurements during edge contacts, where the sensitivity of proprioceptive force estimation degrades as the contact geometry approaches kinematic singularities. We validate the proposed architecture through quantitative force characterization and a multi-stage SD card extraction and insertion task. Video and supplementary materials are available at: https://aristohand.github.io

Problem

• fine-grained manipulation
• thin object handling
• force perception
• contact geometry
• anthropomorphic robotic hands

Innovation

• active distal hyperextension
• hybrid tactile sensing
• force-torque sensor
• tendon-driven robotic hand
• fine-grained manipulation