IEEE Robotics & Automation Magazine - June 2021 - 49

stable and dexterous grasping. The hand allows us to
achieve 32 out of 33 grasp postures in the Feix taxonomy,
which demonstrates the postural dexterity of our soft
hand. Moreover, 31 of the 32 reachable grasps were shown
to be stable.
The design has the limitation that the thumb abduction
and the finger splaying angles are limited by the silicone tensile
strength and wall thickness of the air-chamber structure.
Optimization of the soft palm design so that the thumb can
touch the little finger remains for future work. Moreover, integrating
sensing in the design would allow improved control to
increase safety even further.
Acknowledgments
The first author thanks the China Scholarship Council
for financial support through 201906680045 and the Natural
Science Foundation of China under grant 51875113.
This work is partially supported by CHIST-ERA project
Interactive Perception-Action-Learning for Modelling
Objects (Academy of Finland decision 326304). This article
has supplementary downloadable material available at
https://doi.org/10.1109/MRA.2021.3065870, provided by
the authors.
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Haihang Wang, College of Mechanical and Electrical Engineering,
Harbin Engineering University, Harbin, 150001,
China. Email: wanghaihang@hrbeu.edu.cn.
Fares J. Abu-Dakka, Intelligent Robotics Group, Department of
Electrical Engineering and Automation, Aalto University,
Espoo, 02150, Finland. Email: fares.abu-dakka@aalto.fi.
Tran Nguyen Le, Intelligent Robotics Group, Department of
Electrical Engineering and Automation, Aalto University,
Espoo, 02150, Finland. Email: tran.nguyenle@aalto.fi.
Ville Kyrki, Intelligent Robotics Group, Department of Electrical
Engineering and Automation, Aalto University, Espoo,
02150, Finland. Email: ville.kyrki@aalto.fi.
He Xu, College of Mechanical and Electrical Engineering,
Harbin Engineering University, Harbin, 150001, China.
Email: railway_dragon@sohu.com.
JUNE 2021 * IEEE ROBOTICS & AUTOMATION MAGAZINE *
49
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IEEE Robotics & Automation Magazine - June 2021

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