Suction Leap-Hand: Suction Cups on a Multi-fingered Hand Enables Embodied Dexterity and In-Hand Teleoperation

Zhaole Sun

Keywords: Dexterous Manipulation, Multi-fingered Hand Design

TL;DR: We design a multi-fingered hand with suction cups on fingertips which allows teleoperation of extremely challenging in-hand manipulations.

Abstract:

This is a technique report to introduce our designed hand with suction cups on its fingertips and palm, Suction Leap Hand (S-Leap Hand). By simply mounting suction cups on a three-fingered dexterous hand, we bring two advantages: much more dexterity for in-hand manipulation and the ability to teleoperate of in-hand manipulation, which are two features that are challenging for existing dexterous hands.
We show some demonstrations of in-hand manipulations, e.g., in-hand reorientation, multiple object grasping, and grasping pose changing, that are challenging for current robot hands. Furthermore, we show some tasks that are even challenging for humans, e.g., in-hand peg-in-hole. CAD models and teleoperation codes will be available soon.

Submission Number: 2