<i>RBO Hand 3</i>: A Platform for Soft Dexterous Manipulation

We present the RBO Hand 3, a highly capable and versatile anthropomorphic soft hand based on pneumatic actuation. The 3 is designed to enable dexterous manipulation, facilitate transfer of insights about human dexterity, serve as robust research platform for extensive real-world experiments. It achieves these design goals by combining many degrees actuation with intrinsic compliance, replicating relevant functioning hand, components in modular design. possesses 16 independent actuation, implemented opposable thumb, two-chambered fingers, an actuated palm, ability spread fingers. In this work, we derive objectives that are experimentation hand's predecessors, observations grasping, principles dexterity. explain detail how features achieve evaluate demonstrating its highest possible score Kapandji test thumb opposition, realize all 33 grasp types comprehensive GRASP taxonomy, replicate common grasping strategies, perform in-hand manipulation.