Rigidity-Based Multi-Finger Coordination for Precise In-Hand Manipulation of Force-Sensitive Objects

2026-02-15

AI Summary

This work addresses the challenge of safely manipulating force-sensitive objects—such as raw eggs and plastic cups—with multi-fingered dexterous hands that lack tactile feedback and active force control. To this end, the authors propose a two-layer cooperative control framework: the upper layer performs contact force planning based on graph rigidity theory and force-closure constraints, while the lower layer translates the resulting force trajectories into joint trajectories via a force-position mapping. Notably, this approach is the first to integrate graph rigidity analysis into multi-finger coordination, enabling high-precision and safe manipulation without requiring torque sensors. Experiments conducted on a custom-built dexterous hand successfully demonstrate robust handling of fragile objects, including soft yarn, plastic cups, and raw eggs, thereby validating the efficacy and robustness of the proposed method.

Technology Category

• Intelligent Robots: Manipulation
• Computer Vision: Low Level & Physics-based Vision
• Planning, Routing, and Scheduling: Activity and Plan Recognition

Application Category

• Graph Algorithms and Modeling for the Web: Efficient manipulation of static and dynamic Web-related graphs
• Responsible Web: Machine-in-the-loop, human agency and autonomy
• Web Mining and Content Analysis: Robustness and generalizability of Web mining methods

Abstract

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.

Problem

• in-hand manipulation
• force-sensitive objects
• multi-finger coordination
• contact force control
• dexterous hands

Innovation

• graph rigidity
• force closure
• multi-finger coordination
• force-to-position mapping
• in-hand manipulation