This repository contains the model of the Pisa/IIT hand as described in:
- M. G. Catalano, Grioli, G., Farnioli, E., Serio, A., Piazza, C., and Bicchi, A., “Adaptive Synergies for the Design and Control of the Pisa/IIT SoftHand”, International Journal of Robotics Research, vol. 33, no. 5, pp. 768–782, 2014
Free version of the paper and IJRR version (access required)
CAD model freely available through the Natural Machine Motion Initiative for old version, not the implemented here.
Unless stated otherwise, all files within the repository are released under the BSD 3-Clause License, see the LICENSE file for the details.
- Dependencies
Refer to CMakeLists.txt files and compilation errors if you are missing one.
Typically, all related package with ros_control, controllers, simulation gazebo4, and so on. Simulations tested with Gazebo4.
And you need the forked version of ros_control where the adaptive synergy transmission is implemented:
git clone https://github.com/CentroEPiaggio/ros_control.git
- Adaptive model
This model uses one joint controlled by position, and propagate the resulting configuration using the adaptive synergy transmission to the subactuated joints.
To see an example, launch:
roslaunch soft_hand_description gazebo_adaptive_actuation.launch
Open the hand with:
rostopic pub /soft_hand/hand_synergy_joint_position_controller/command std_msgs/Float64 "data: 0.0" &
Close the hand with:
rostopic pub /soft_hand/hand_synergy_joint_position_controller/command std_msgs/Float64 "data: 1.0" &
You can also modify the gazebo_adaptive_actuation.launch at will, for instance, by setting use_mimic_joint to true, you load a different hardware interface for simulation where the synergy works in pure kinematic control.
###Push the finger (Not implemented)
Test the adaptive synergy transmission by applying a wrench to the middle fingertip (you must choose start_time and duration according to the ROS time clock)
rosservice call /gazebo/apply_body_wrench "body_name: 'soft_hand::soft_hand_middle_distal_link'
wrench:
force: {x: 0.0, y: 0.0, z: 10.0}
torque: {x: 0.0, y: 0.0, z: 0.0}
duration: {secs: -1, nsecs: 0}"
And clear the wrench in case you want to continue working normally
rosservice call /gazebo/clear_body_wrenches "body_name: 'soft_hand::soft_hand_middle_distal_link'"
- Fully actuated model
This model might be useful for any application that implements the adaptive synergy "by soft", in which you compute the torque for each joint and publish it.
IMPORTANT: You must ensure that the mimic joints have the same value as the joints they are mimicking!
To see an example, launch:
roslaunch soft_hand_description gazebo_full_actuation.launch
Open the hand with:
rostopic pub /soft_hand/hand_thumb_abd_joint_position_controller/command std_msgs/Float64 "data: 0.0" &
rostopic pub /soft_hand/hand_thumb_inner_joint_position_controller/command std_msgs/Float64 "data: 0.0" &
rostopic pub /soft_hand/hand_thumb_outer_joint_position_controller/command std_msgs/Float64 "data: 0.0" &
rostopic pub /soft_hand/hand_index_abd_joint_position_controller/command std_msgs/Float64 "data: 0.0" &
rostopic pub /soft_hand/hand_index_inner_joint_position_controller/command std_msgs/Float64 "data: 0.0" &
rostopic pub /soft_hand/hand_index_middle_joint_position_controller/command std_msgs/Float64 "data: 0.0" &
rostopic pub /soft_hand/hand_index_outer_joint_position_controller/command std_msgs/Float64 "data: 0.0" &
rostopic pub /soft_hand/hand_little_abd_joint_position_controller/command std_msgs/Float64 "data: 0.0" &
rostopic pub /soft_hand/hand_little_inner_joint_position_controller/command std_msgs/Float64 "data: 0.0" &
rostopic pub /soft_hand/hand_little_middle_joint_position_controller/command std_msgs/Float64 "data: 0.0" &
rostopic pub /soft_hand/hand_little_outer_joint_position_controller/command std_msgs/Float64 "data: 0.0" &
rostopic pub /soft_hand/hand_middle_abd_joint_position_controller/command std_msgs/Float64 "data: 0.0" &
rostopic pub /soft_hand/hand_middle_inner_joint_position_controller/command std_msgs/Float64 "data: 0.0" &
rostopic pub /soft_hand/hand_middle_middle_joint_position_controller/command std_msgs/Float64 "data: 0.0" &
rostopic pub /soft_hand/hand_middle_outer_joint_position_controller/command std_msgs/Float64 "data: 0.0" &
rostopic pub /soft_hand/hand_ring_abd_joint_position_controller/command std_msgs/Float64 "data: 0.0" &
rostopic pub /soft_hand/hand_ring_inner_joint_position_controller/command std_msgs/Float64 "data: 0.0" &
rostopic pub /soft_hand/hand_ring_middle_joint_position_controller/command std_msgs/Float64 "data: 0.0" &
rostopic pub /soft_hand/hand_ring_outer_joint_position_controller/command std_msgs/Float64 "data: 0.0" &
rostopic pub /soft_hand/hand_thumb_inner_joint_mimic_position_controller/command std_msgs/Float64 "data: 0.0" &
rostopic pub /soft_hand/hand_thumb_outer_joint_mimic_position_controller/command std_msgs/Float64 "data: 0.0" &
rostopic pub /soft_hand/hand_index_inner_joint_mimic_position_controller/command std_msgs/Float64 "data: 0.0" &
rostopic pub /soft_hand/hand_index_middle_joint_mimic_position_controller/command std_msgs/Float64 "data: 0.0" &
rostopic pub /soft_hand/hand_index_outer_joint_mimic_position_controller/command std_msgs/Float64 "data: 0.0" &
rostopic pub /soft_hand/hand_little_inner_joint_mimic_position_controller/command std_msgs/Float64 "data: 0.0" &
rostopic pub /soft_hand/hand_little_middle_joint_mimic_position_controller/command std_msgs/Float64 "data: 0.0" &
rostopic pub /soft_hand/hand_little_outer_joint_mimic_position_controller/command std_msgs/Float64 "data: 0.0" &
rostopic pub /soft_hand/hand_middle_inner_joint_mimic_position_controller/command std_msgs/Float64 "data: 0.0" &
rostopic pub /soft_hand/hand_middle_middle_joint_mimic_position_controller/command std_msgs/Float64 "data: 0.0" &
rostopic pub /soft_hand/hand_middle_outer_joint_mimic_position_controller/command std_msgs/Float64 "data: 0.0" &
rostopic pub /soft_hand/hand_ring_inner_joint_mimic_position_controller/command std_msgs/Float64 "data: 0.0" &
rostopic pub /soft_hand/hand_ring_middle_joint_mimic_position_controller/command std_msgs/Float64 "data: 0.0" &
rostopic pub /soft_hand/hand_ring_outer_joint_mimic_position_controller/command std_msgs/Float64 "data: 0.0" &
Close the hand with:
rostopic pub /soft_hand/hand_thumb_abd_joint_position_controller/command std_msgs/Float64 "data: 1.5" &
rostopic pub /soft_hand/hand_thumb_inner_joint_position_controller/command std_msgs/Float64 "data: 0.7" &
rostopic pub /soft_hand/hand_thumb_outer_joint_position_controller/command std_msgs/Float64 "data: 0.6" &
rostopic pub /soft_hand/hand_index_abd_joint_position_controller/command std_msgs/Float64 "data: 0.0" &
rostopic pub /soft_hand/hand_index_inner_joint_position_controller/command std_msgs/Float64 "data: 0.7" &
rostopic pub /soft_hand/hand_index_middle_joint_position_controller/command std_msgs/Float64 "data: 0.5" &
rostopic pub /soft_hand/hand_index_outer_joint_position_controller/command std_msgs/Float64 "data: 0.6" &
rostopic pub /soft_hand/hand_little_abd_joint_position_controller/command std_msgs/Float64 "data: 0.0" &
rostopic pub /soft_hand/hand_little_inner_joint_position_controller/command std_msgs/Float64 "data: 0.7" &
rostopic pub /soft_hand/hand_little_middle_joint_position_controller/command std_msgs/Float64 "data: 0.5" &
rostopic pub /soft_hand/hand_little_outer_joint_position_controller/command std_msgs/Float64 "data: 0.6" &
rostopic pub /soft_hand/hand_middle_abd_joint_position_controller/command std_msgs/Float64 "data: 0.0" &
rostopic pub /soft_hand/hand_middle_inner_joint_position_controller/command std_msgs/Float64 "data: 0.7" &
rostopic pub /soft_hand/hand_middle_middle_joint_position_controller/command std_msgs/Float64 "data: 0.5" &
rostopic pub /soft_hand/hand_middle_outer_joint_position_controller/command std_msgs/Float64 "data: 0.6" &
rostopic pub /soft_hand/hand_ring_abd_joint_position_controller/command std_msgs/Float64 "data: 0.0" &
rostopic pub /soft_hand/hand_ring_inner_joint_position_controller/command std_msgs/Float64 "data: 0.7" &
rostopic pub /soft_hand/hand_ring_middle_joint_position_controller/command std_msgs/Float64 "data: 0.5" &
rostopic pub /soft_hand/hand_ring_outer_joint_position_controller/command std_msgs/Float64 "data: 0.6" &
rostopic pub /soft_hand/hand_thumb_inner_joint_mimic_position_controller/command std_msgs/Float64 "data: 0.7" &
rostopic pub /soft_hand/hand_thumb_outer_joint_mimic_position_controller/command std_msgs/Float64 "data: 0.6" &
rostopic pub /soft_hand/hand_index_inner_joint_mimic_position_controller/command std_msgs/Float64 "data: 0.7" &
rostopic pub /soft_hand/hand_index_middle_joint_mimic_position_controller/command std_msgs/Float64 "data: 0.5" &
rostopic pub /soft_hand/hand_index_outer_joint_mimic_position_controller/command std_msgs/Float64 "data: 0.6" &
rostopic pub /soft_hand/hand_little_inner_joint_mimic_position_controller/command std_msgs/Float64 "data: 0.7" &
rostopic pub /soft_hand/hand_little_middle_joint_mimic_position_controller/command std_msgs/Float64 "data: 0.5" &
rostopic pub /soft_hand/hand_little_outer_joint_mimic_position_controller/command std_msgs/Float64 "data: 0.6" &
rostopic pub /soft_hand/hand_middle_inner_joint_mimic_position_controller/command std_msgs/Float64 "data: 0.7" &
rostopic pub /soft_hand/hand_middle_middle_joint_mimic_position_controller/command std_msgs/Float64 "data: 0.5" &
rostopic pub /soft_hand/hand_middle_outer_joint_mimic_position_controller/command std_msgs/Float64 "data: 0.6" &
rostopic pub /soft_hand/hand_ring_inner_joint_mimic_position_controller/command std_msgs/Float64 "data: 0.7" &
rostopic pub /soft_hand/hand_ring_middle_joint_mimic_position_controller/command std_msgs/Float64 "data: 0.5" &
rostopic pub /soft_hand/hand_ring_outer_joint_mimic_position_controller/command std_msgs/Float64 "data: 0.6" &