Open-sourced CAD Model of Tactile SoftHand-A, and its fabricating instruction.

CAD Model:

1. ‘softfinger with tactile fingertip.stp‘ is the assembled robotic finger with tctile fingertip.
2. ‘softfinger without tactile fingertip.stp‘ is the assembled robotic finger without tctile fingertip but general fingertip.
3. ’SoftHand with Active Antagonism.stp‘ is the assembled whole robotic hand file.
4. 'Tactile_fingertip_for_3D_Printing.stp' is the file of tactile fingertip for 3D printing.

Video_demo folder inclde all multi-media files:

1. tactile_softhand_A_demo.mp4 Shows the performance and experiment of Tactile SoftHand-A.

2. Supplement_finger_demo.mp4 shows supplemental experiments include response time test, repeat positioning accuracy, bearing capacity, resistance to obstacles and manipulation ability.

3. Supplement_hand_demo.mp4 shows supplemental experiments include response time test, wrench limit, controllable grasping gestures and tactile feedback control.

4. Supplement_tactile_model.mp4 shows the contact and slip detection experiments.