Implementation of whole-hand manipulation capability in the UB hand system design

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Abstract
This paper presents the latest development steps of the UB Hand, an integrated system for whole-hand manipulation that is going into its final experimentation phase. After a resume of the motivations to the development of such a system and a review of its design features, a description of the current state is given, together with a discussion of the main problems found in the implementation phase. Present experimental activity is then briefly described and some hints on future developments are finally presented.

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