ARISTO Hand: Sensing-Driven Distal Hyperextension for Fine-Grained Manipulation

[2605.30508] ARISTO Hand: Sensing-Driven Distal Hyperextension for Fine-Grained Manipulation

[Submitted on 28 May 2026]

Title:ARISTO Hand: Sensing-Driven Distal Hyperextension for Fine-Grained Manipulation

View a PDF of the paper titled ARISTO Hand: Sensing-Driven Distal Hyperextension for Fine-Grained Manipulation, by Aaron Kim and 6 other authors

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Abstract:Manipulating thin objects requires precise contact geometry and reliable force perception, yet many anthropomorphic robotic hands lack the mechanical and sensing capabilities needed for such interactions. We present the ARISTO Hand, a tendon-driven robotic hand that integrates active distal hyperextension with a hybrid fingertip-sensing architecture that combines a rigid, nail-mounted force-torque sensor and a soft capacitive tactile array. Active hyperextension enables controlled fingertip engagement beyond the kinematic limits of standard flexion, increasing pull-out force by 2.76x for object thicknesses of 1-20 mm while preserving the nominal grasp capability. The rigid nail-mounted sensor provides reliable force measurements during edge contacts, where the sensitivity of proprioceptive force estimation degrades as the contact geometry approaches kinematic singularities. We validate the proposed architecture through quantitative force characterization and a multi-stage SD card extraction and insertion task. Video and supplementary materials are available at: this https URL

Subjects:

Robotics (cs.RO)

Cite as: arXiv:2605.30508 [cs.RO]

(or arXiv:2605.30508v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2605.30508

arXiv-issued DOI via DataCite (pending registration)

Submission history

From: Aaron Kim [view email] [v1] Thu, 28 May 2026 19:44:04 UTC (5,126 KB)

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