ROS Index
Package Summary
| Tags | No category tags. |
| Version | 1.1.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/jsk-ros-pkg/jsk_robot.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-04-02 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Shingo Kitagawa
Authors
- Shingo Kitagawa
softhand_ros
ROS package for SoftHand
Note
This package depends on the branch below.
Citation
Softhand v1
@INPROCEEDINGS{hirose_softhand_v1,
author={Hirose, Toshinori and Kakiuchi, Yohei and Okada, Kei and Inaba, Masayuki},
booktitle={2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
title={Design of Soft Flexible Wire-driven Finger Mechanism for Contact Pressure Distribution},
year={2019},
volume={},
number={},
pages={4699-4705},
doi={10.1109/IROS40897.2019.8968011}
}
Softhand v2
@INPROCEEDINGS{hirose_softhand_v2,
author={Hirose, Toshinori and Kitagawa, Shingo and Hasegawa, Shun and Kakiuchi, Yohei and Okada, Kei and Inaba, Masayuki},
booktitle={2022 IEEE 5th International Conference on Soft Robotics (RoboSoft)},
title={Waterproof Soft Robot Hand with Variable Stiffness Wire-driven Finger Mechanism Using Low Melting Point Alloy for Contact Pressure Distribution and Concentration},
year={2022},
volume={},
number={},
pages={109-116},
doi={10.1109/RoboSoft54090.2022.9762208}
}
Installation
Workspace build
source /opt/ros/$ROS_DISTRO/setup.bash
mkdir ~/softhand_ws/src -p
cd ~/softhand_ws/src
wget https://raw.githubusercontent.com/knorth55/softhand_ros/master/fc.rosinstall -O .rosinstall
wstool up
rosdep install --ignore-src --from-paths . -y -r -i
cd ~/softhand_ws
catkin build
Udev installation
source ~/softhand_ws/devel/setup.bash
roscd softhand_ros
sudo cp udev/*.rules /etc/udev/rules.d
sudo service udev reload
sudo service udev restart
Softhand Description
Softhand v1
Softhand V1 is designed for contact pressure distribution.
The hand can grasp soft and fragile object with low power, and solid and heavy object with high power.
For more detailed information, please read Design of Soft Flexible Wire-driven Finger Mechanism for Contact Pressure Distribution
Softhand v2
Softhand V2 is designed for waterproof and variable stiffness.
The hand can grasp as softhand v1, but also can massage human’s head and hair.
For more detailed information please read Waterproof Soft Robot Hand with Variable Stiffness Wire-driven Finger Mechanism Using Low Melting Point Alloy for Contact Pressure Distribution and Concentration.
How to use
Launch softhand
For softhand v1
```bash source ~/softhand_ws/devel/setup.bash
for left softhand v1
roslaunch softhand_ros softhand_left.launch
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| eus_teleop | |
| jsk_baxter_startup |
Launch files
- launch/softhand.launch
-
- hand
- device
- mode [default: position]
- launch/softhand_left.launch
-
- device [default: /dev/lhand-e160]
- mode [default: position]
- launch/softhand_right.launch
-
- device [default: /dev/rhand-e160]
- mode [default: position]
- launch/softhand_v2.launch
-
- hand
- device
- mode [default: position]
- launch/softhand_v2_left.launch
-
- device [default: /dev/lhand-v2-e160]
- mode [default: position]
- launch/softhand_v2_right.launch
-
- device [default: /dev/rhand-v2-e160]
- mode [default: position]
Messages
Services
Plugins
Recent questions tagged softhand_ros at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 1.1.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/jsk-ros-pkg/jsk_robot.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-04-02 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Shingo Kitagawa
Authors
- Shingo Kitagawa
softhand_ros
ROS package for SoftHand
Note
This package depends on the branch below.
Citation
Softhand v1
@INPROCEEDINGS{hirose_softhand_v1,
author={Hirose, Toshinori and Kakiuchi, Yohei and Okada, Kei and Inaba, Masayuki},
booktitle={2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
title={Design of Soft Flexible Wire-driven Finger Mechanism for Contact Pressure Distribution},
year={2019},
volume={},
number={},
pages={4699-4705},
doi={10.1109/IROS40897.2019.8968011}
}
Softhand v2
@INPROCEEDINGS{hirose_softhand_v2,
author={Hirose, Toshinori and Kitagawa, Shingo and Hasegawa, Shun and Kakiuchi, Yohei and Okada, Kei and Inaba, Masayuki},
booktitle={2022 IEEE 5th International Conference on Soft Robotics (RoboSoft)},
title={Waterproof Soft Robot Hand with Variable Stiffness Wire-driven Finger Mechanism Using Low Melting Point Alloy for Contact Pressure Distribution and Concentration},
year={2022},
volume={},
number={},
pages={109-116},
doi={10.1109/RoboSoft54090.2022.9762208}
}
Installation
Workspace build
source /opt/ros/$ROS_DISTRO/setup.bash
mkdir ~/softhand_ws/src -p
cd ~/softhand_ws/src
wget https://raw.githubusercontent.com/knorth55/softhand_ros/master/fc.rosinstall -O .rosinstall
wstool up
rosdep install --ignore-src --from-paths . -y -r -i
cd ~/softhand_ws
catkin build
Udev installation
source ~/softhand_ws/devel/setup.bash
roscd softhand_ros
sudo cp udev/*.rules /etc/udev/rules.d
sudo service udev reload
sudo service udev restart
Softhand Description
Softhand v1
Softhand V1 is designed for contact pressure distribution.
The hand can grasp soft and fragile object with low power, and solid and heavy object with high power.
For more detailed information, please read Design of Soft Flexible Wire-driven Finger Mechanism for Contact Pressure Distribution
Softhand v2
Softhand V2 is designed for waterproof and variable stiffness.
The hand can grasp as softhand v1, but also can massage human’s head and hair.
For more detailed information please read Waterproof Soft Robot Hand with Variable Stiffness Wire-driven Finger Mechanism Using Low Melting Point Alloy for Contact Pressure Distribution and Concentration.
How to use
Launch softhand
For softhand v1
```bash source ~/softhand_ws/devel/setup.bash
for left softhand v1
roslaunch softhand_ros softhand_left.launch
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| eus_teleop | |
| jsk_baxter_startup |
Launch files
- launch/softhand.launch
-
- hand
- device
- mode [default: position]
- launch/softhand_left.launch
-
- device [default: /dev/lhand-e160]
- mode [default: position]
- launch/softhand_right.launch
-
- device [default: /dev/rhand-e160]
- mode [default: position]
- launch/softhand_v2.launch
-
- hand
- device
- mode [default: position]
- launch/softhand_v2_left.launch
-
- device [default: /dev/lhand-v2-e160]
- mode [default: position]
- launch/softhand_v2_right.launch
-
- device [default: /dev/rhand-v2-e160]
- mode [default: position]
Messages
Services
Plugins
Recent questions tagged softhand_ros at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 1.1.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/jsk-ros-pkg/jsk_robot.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-04-02 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Shingo Kitagawa
Authors
- Shingo Kitagawa
softhand_ros
ROS package for SoftHand
Note
This package depends on the branch below.
Citation
Softhand v1
@INPROCEEDINGS{hirose_softhand_v1,
author={Hirose, Toshinori and Kakiuchi, Yohei and Okada, Kei and Inaba, Masayuki},
booktitle={2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
title={Design of Soft Flexible Wire-driven Finger Mechanism for Contact Pressure Distribution},
year={2019},
volume={},
number={},
pages={4699-4705},
doi={10.1109/IROS40897.2019.8968011}
}
Softhand v2
@INPROCEEDINGS{hirose_softhand_v2,
author={Hirose, Toshinori and Kitagawa, Shingo and Hasegawa, Shun and Kakiuchi, Yohei and Okada, Kei and Inaba, Masayuki},
booktitle={2022 IEEE 5th International Conference on Soft Robotics (RoboSoft)},
title={Waterproof Soft Robot Hand with Variable Stiffness Wire-driven Finger Mechanism Using Low Melting Point Alloy for Contact Pressure Distribution and Concentration},
year={2022},
volume={},
number={},
pages={109-116},
doi={10.1109/RoboSoft54090.2022.9762208}
}
Installation
Workspace build
source /opt/ros/$ROS_DISTRO/setup.bash
mkdir ~/softhand_ws/src -p
cd ~/softhand_ws/src
wget https://raw.githubusercontent.com/knorth55/softhand_ros/master/fc.rosinstall -O .rosinstall
wstool up
rosdep install --ignore-src --from-paths . -y -r -i
cd ~/softhand_ws
catkin build
Udev installation
source ~/softhand_ws/devel/setup.bash
roscd softhand_ros
sudo cp udev/*.rules /etc/udev/rules.d
sudo service udev reload
sudo service udev restart
Softhand Description
Softhand v1
Softhand V1 is designed for contact pressure distribution.
The hand can grasp soft and fragile object with low power, and solid and heavy object with high power.
For more detailed information, please read Design of Soft Flexible Wire-driven Finger Mechanism for Contact Pressure Distribution
Softhand v2
Softhand V2 is designed for waterproof and variable stiffness.
The hand can grasp as softhand v1, but also can massage human’s head and hair.
For more detailed information please read Waterproof Soft Robot Hand with Variable Stiffness Wire-driven Finger Mechanism Using Low Melting Point Alloy for Contact Pressure Distribution and Concentration.
How to use
Launch softhand
For softhand v1
```bash source ~/softhand_ws/devel/setup.bash
for left softhand v1
roslaunch softhand_ros softhand_left.launch
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| eus_teleop | |
| jsk_baxter_startup |
Launch files
- launch/softhand.launch
-
- hand
- device
- mode [default: position]
- launch/softhand_left.launch
-
- device [default: /dev/lhand-e160]
- mode [default: position]
- launch/softhand_right.launch
-
- device [default: /dev/rhand-e160]
- mode [default: position]
- launch/softhand_v2.launch
-
- hand
- device
- mode [default: position]
- launch/softhand_v2_left.launch
-
- device [default: /dev/lhand-v2-e160]
- mode [default: position]
- launch/softhand_v2_right.launch
-
- device [default: /dev/rhand-v2-e160]
- mode [default: position]
Messages
Services
Plugins
Recent questions tagged softhand_ros at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 1.1.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/jsk-ros-pkg/jsk_robot.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-04-02 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Shingo Kitagawa
Authors
- Shingo Kitagawa
softhand_ros
ROS package for SoftHand
Note
This package depends on the branch below.
Citation
Softhand v1
@INPROCEEDINGS{hirose_softhand_v1,
author={Hirose, Toshinori and Kakiuchi, Yohei and Okada, Kei and Inaba, Masayuki},
booktitle={2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
title={Design of Soft Flexible Wire-driven Finger Mechanism for Contact Pressure Distribution},
year={2019},
volume={},
number={},
pages={4699-4705},
doi={10.1109/IROS40897.2019.8968011}
}
Softhand v2
@INPROCEEDINGS{hirose_softhand_v2,
author={Hirose, Toshinori and Kitagawa, Shingo and Hasegawa, Shun and Kakiuchi, Yohei and Okada, Kei and Inaba, Masayuki},
booktitle={2022 IEEE 5th International Conference on Soft Robotics (RoboSoft)},
title={Waterproof Soft Robot Hand with Variable Stiffness Wire-driven Finger Mechanism Using Low Melting Point Alloy for Contact Pressure Distribution and Concentration},
year={2022},
volume={},
number={},
pages={109-116},
doi={10.1109/RoboSoft54090.2022.9762208}
}
Installation
Workspace build
source /opt/ros/$ROS_DISTRO/setup.bash
mkdir ~/softhand_ws/src -p
cd ~/softhand_ws/src
wget https://raw.githubusercontent.com/knorth55/softhand_ros/master/fc.rosinstall -O .rosinstall
wstool up
rosdep install --ignore-src --from-paths . -y -r -i
cd ~/softhand_ws
catkin build
Udev installation
source ~/softhand_ws/devel/setup.bash
roscd softhand_ros
sudo cp udev/*.rules /etc/udev/rules.d
sudo service udev reload
sudo service udev restart
Softhand Description
Softhand v1
Softhand V1 is designed for contact pressure distribution.
The hand can grasp soft and fragile object with low power, and solid and heavy object with high power.
For more detailed information, please read Design of Soft Flexible Wire-driven Finger Mechanism for Contact Pressure Distribution
Softhand v2
Softhand V2 is designed for waterproof and variable stiffness.
The hand can grasp as softhand v1, but also can massage human’s head and hair.
For more detailed information please read Waterproof Soft Robot Hand with Variable Stiffness Wire-driven Finger Mechanism Using Low Melting Point Alloy for Contact Pressure Distribution and Concentration.
How to use
Launch softhand
For softhand v1
```bash source ~/softhand_ws/devel/setup.bash
for left softhand v1
roslaunch softhand_ros softhand_left.launch
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| eus_teleop | |
| jsk_baxter_startup |
Launch files
- launch/softhand.launch
-
- hand
- device
- mode [default: position]
- launch/softhand_left.launch
-
- device [default: /dev/lhand-e160]
- mode [default: position]
- launch/softhand_right.launch
-
- device [default: /dev/rhand-e160]
- mode [default: position]
- launch/softhand_v2.launch
-
- hand
- device
- mode [default: position]
- launch/softhand_v2_left.launch
-
- device [default: /dev/lhand-v2-e160]
- mode [default: position]
- launch/softhand_v2_right.launch
-
- device [default: /dev/rhand-v2-e160]
- mode [default: position]
Messages
Services
Plugins
Recent questions tagged softhand_ros at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 1.1.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/jsk-ros-pkg/jsk_robot.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-04-02 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Shingo Kitagawa
Authors
- Shingo Kitagawa
softhand_ros
ROS package for SoftHand
Note
This package depends on the branch below.
Citation
Softhand v1
@INPROCEEDINGS{hirose_softhand_v1,
author={Hirose, Toshinori and Kakiuchi, Yohei and Okada, Kei and Inaba, Masayuki},
booktitle={2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
title={Design of Soft Flexible Wire-driven Finger Mechanism for Contact Pressure Distribution},
year={2019},
volume={},
number={},
pages={4699-4705},
doi={10.1109/IROS40897.2019.8968011}
}
Softhand v2
@INPROCEEDINGS{hirose_softhand_v2,
author={Hirose, Toshinori and Kitagawa, Shingo and Hasegawa, Shun and Kakiuchi, Yohei and Okada, Kei and Inaba, Masayuki},
booktitle={2022 IEEE 5th International Conference on Soft Robotics (RoboSoft)},
title={Waterproof Soft Robot Hand with Variable Stiffness Wire-driven Finger Mechanism Using Low Melting Point Alloy for Contact Pressure Distribution and Concentration},
year={2022},
volume={},
number={},
pages={109-116},
doi={10.1109/RoboSoft54090.2022.9762208}
}
Installation
Workspace build
source /opt/ros/$ROS_DISTRO/setup.bash
mkdir ~/softhand_ws/src -p
cd ~/softhand_ws/src
wget https://raw.githubusercontent.com/knorth55/softhand_ros/master/fc.rosinstall -O .rosinstall
wstool up
rosdep install --ignore-src --from-paths . -y -r -i
cd ~/softhand_ws
catkin build
Udev installation
source ~/softhand_ws/devel/setup.bash
roscd softhand_ros
sudo cp udev/*.rules /etc/udev/rules.d
sudo service udev reload
sudo service udev restart
Softhand Description
Softhand v1
Softhand V1 is designed for contact pressure distribution.
The hand can grasp soft and fragile object with low power, and solid and heavy object with high power.
For more detailed information, please read Design of Soft Flexible Wire-driven Finger Mechanism for Contact Pressure Distribution
Softhand v2
Softhand V2 is designed for waterproof and variable stiffness.
The hand can grasp as softhand v1, but also can massage human’s head and hair.
For more detailed information please read Waterproof Soft Robot Hand with Variable Stiffness Wire-driven Finger Mechanism Using Low Melting Point Alloy for Contact Pressure Distribution and Concentration.
How to use
Launch softhand
For softhand v1
```bash source ~/softhand_ws/devel/setup.bash
for left softhand v1
roslaunch softhand_ros softhand_left.launch
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| eus_teleop | |
| jsk_baxter_startup |
Launch files
- launch/softhand.launch
-
- hand
- device
- mode [default: position]
- launch/softhand_left.launch
-
- device [default: /dev/lhand-e160]
- mode [default: position]
- launch/softhand_right.launch
-
- device [default: /dev/rhand-e160]
- mode [default: position]
- launch/softhand_v2.launch
-
- hand
- device
- mode [default: position]
- launch/softhand_v2_left.launch
-
- device [default: /dev/lhand-v2-e160]
- mode [default: position]
- launch/softhand_v2_right.launch
-
- device [default: /dev/rhand-v2-e160]
- mode [default: position]
Messages
Services
Plugins
Recent questions tagged softhand_ros at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 1.1.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/jsk-ros-pkg/jsk_robot.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-04-02 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Shingo Kitagawa
Authors
- Shingo Kitagawa
softhand_ros
ROS package for SoftHand
Note
This package depends on the branch below.
Citation
Softhand v1
@INPROCEEDINGS{hirose_softhand_v1,
author={Hirose, Toshinori and Kakiuchi, Yohei and Okada, Kei and Inaba, Masayuki},
booktitle={2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
title={Design of Soft Flexible Wire-driven Finger Mechanism for Contact Pressure Distribution},
year={2019},
volume={},
number={},
pages={4699-4705},
doi={10.1109/IROS40897.2019.8968011}
}
Softhand v2
@INPROCEEDINGS{hirose_softhand_v2,
author={Hirose, Toshinori and Kitagawa, Shingo and Hasegawa, Shun and Kakiuchi, Yohei and Okada, Kei and Inaba, Masayuki},
booktitle={2022 IEEE 5th International Conference on Soft Robotics (RoboSoft)},
title={Waterproof Soft Robot Hand with Variable Stiffness Wire-driven Finger Mechanism Using Low Melting Point Alloy for Contact Pressure Distribution and Concentration},
year={2022},
volume={},
number={},
pages={109-116},
doi={10.1109/RoboSoft54090.2022.9762208}
}
Installation
Workspace build
source /opt/ros/$ROS_DISTRO/setup.bash
mkdir ~/softhand_ws/src -p
cd ~/softhand_ws/src
wget https://raw.githubusercontent.com/knorth55/softhand_ros/master/fc.rosinstall -O .rosinstall
wstool up
rosdep install --ignore-src --from-paths . -y -r -i
cd ~/softhand_ws
catkin build
Udev installation
source ~/softhand_ws/devel/setup.bash
roscd softhand_ros
sudo cp udev/*.rules /etc/udev/rules.d
sudo service udev reload
sudo service udev restart
Softhand Description
Softhand v1
Softhand V1 is designed for contact pressure distribution.
The hand can grasp soft and fragile object with low power, and solid and heavy object with high power.
For more detailed information, please read Design of Soft Flexible Wire-driven Finger Mechanism for Contact Pressure Distribution
Softhand v2
Softhand V2 is designed for waterproof and variable stiffness.
The hand can grasp as softhand v1, but also can massage human’s head and hair.
For more detailed information please read Waterproof Soft Robot Hand with Variable Stiffness Wire-driven Finger Mechanism Using Low Melting Point Alloy for Contact Pressure Distribution and Concentration.
How to use
Launch softhand
For softhand v1
```bash source ~/softhand_ws/devel/setup.bash
for left softhand v1
roslaunch softhand_ros softhand_left.launch
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| eus_teleop | |
| jsk_baxter_startup |
Launch files
- launch/softhand.launch
-
- hand
- device
- mode [default: position]
- launch/softhand_left.launch
-
- device [default: /dev/lhand-e160]
- mode [default: position]
- launch/softhand_right.launch
-
- device [default: /dev/rhand-e160]
- mode [default: position]
- launch/softhand_v2.launch
-
- hand
- device
- mode [default: position]
- launch/softhand_v2_left.launch
-
- device [default: /dev/lhand-v2-e160]
- mode [default: position]
- launch/softhand_v2_right.launch
-
- device [default: /dev/rhand-v2-e160]
- mode [default: position]
Messages
Services
Plugins
Recent questions tagged softhand_ros at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 1.1.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/jsk-ros-pkg/jsk_robot.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-04-02 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Shingo Kitagawa
Authors
- Shingo Kitagawa
softhand_ros
ROS package for SoftHand
Note
This package depends on the branch below.
Citation
Softhand v1
@INPROCEEDINGS{hirose_softhand_v1,
author={Hirose, Toshinori and Kakiuchi, Yohei and Okada, Kei and Inaba, Masayuki},
booktitle={2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
title={Design of Soft Flexible Wire-driven Finger Mechanism for Contact Pressure Distribution},
year={2019},
volume={},
number={},
pages={4699-4705},
doi={10.1109/IROS40897.2019.8968011}
}
Softhand v2
@INPROCEEDINGS{hirose_softhand_v2,
author={Hirose, Toshinori and Kitagawa, Shingo and Hasegawa, Shun and Kakiuchi, Yohei and Okada, Kei and Inaba, Masayuki},
booktitle={2022 IEEE 5th International Conference on Soft Robotics (RoboSoft)},
title={Waterproof Soft Robot Hand with Variable Stiffness Wire-driven Finger Mechanism Using Low Melting Point Alloy for Contact Pressure Distribution and Concentration},
year={2022},
volume={},
number={},
pages={109-116},
doi={10.1109/RoboSoft54090.2022.9762208}
}
Installation
Workspace build
source /opt/ros/$ROS_DISTRO/setup.bash
mkdir ~/softhand_ws/src -p
cd ~/softhand_ws/src
wget https://raw.githubusercontent.com/knorth55/softhand_ros/master/fc.rosinstall -O .rosinstall
wstool up
rosdep install --ignore-src --from-paths . -y -r -i
cd ~/softhand_ws
catkin build
Udev installation
source ~/softhand_ws/devel/setup.bash
roscd softhand_ros
sudo cp udev/*.rules /etc/udev/rules.d
sudo service udev reload
sudo service udev restart
Softhand Description
Softhand v1
Softhand V1 is designed for contact pressure distribution.
The hand can grasp soft and fragile object with low power, and solid and heavy object with high power.
For more detailed information, please read Design of Soft Flexible Wire-driven Finger Mechanism for Contact Pressure Distribution
Softhand v2
Softhand V2 is designed for waterproof and variable stiffness.
The hand can grasp as softhand v1, but also can massage human’s head and hair.
For more detailed information please read Waterproof Soft Robot Hand with Variable Stiffness Wire-driven Finger Mechanism Using Low Melting Point Alloy for Contact Pressure Distribution and Concentration.
How to use
Launch softhand
For softhand v1
```bash source ~/softhand_ws/devel/setup.bash
for left softhand v1
roslaunch softhand_ros softhand_left.launch
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| eus_teleop | |
| jsk_baxter_startup |
Launch files
- launch/softhand.launch
-
- hand
- device
- mode [default: position]
- launch/softhand_left.launch
-
- device [default: /dev/lhand-e160]
- mode [default: position]
- launch/softhand_right.launch
-
- device [default: /dev/rhand-e160]
- mode [default: position]
- launch/softhand_v2.launch
-
- hand
- device
- mode [default: position]
- launch/softhand_v2_left.launch
-
- device [default: /dev/lhand-v2-e160]
- mode [default: position]
- launch/softhand_v2_right.launch
-
- device [default: /dev/rhand-v2-e160]
- mode [default: position]
Messages
Services
Plugins
Recent questions tagged softhand_ros at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 1.1.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/jsk-ros-pkg/jsk_robot.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-04-02 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Shingo Kitagawa
Authors
- Shingo Kitagawa
softhand_ros
ROS package for SoftHand
Note
This package depends on the branch below.
Citation
Softhand v1
@INPROCEEDINGS{hirose_softhand_v1,
author={Hirose, Toshinori and Kakiuchi, Yohei and Okada, Kei and Inaba, Masayuki},
booktitle={2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
title={Design of Soft Flexible Wire-driven Finger Mechanism for Contact Pressure Distribution},
year={2019},
volume={},
number={},
pages={4699-4705},
doi={10.1109/IROS40897.2019.8968011}
}
Softhand v2
@INPROCEEDINGS{hirose_softhand_v2,
author={Hirose, Toshinori and Kitagawa, Shingo and Hasegawa, Shun and Kakiuchi, Yohei and Okada, Kei and Inaba, Masayuki},
booktitle={2022 IEEE 5th International Conference on Soft Robotics (RoboSoft)},
title={Waterproof Soft Robot Hand with Variable Stiffness Wire-driven Finger Mechanism Using Low Melting Point Alloy for Contact Pressure Distribution and Concentration},
year={2022},
volume={},
number={},
pages={109-116},
doi={10.1109/RoboSoft54090.2022.9762208}
}
Installation
Workspace build
source /opt/ros/$ROS_DISTRO/setup.bash
mkdir ~/softhand_ws/src -p
cd ~/softhand_ws/src
wget https://raw.githubusercontent.com/knorth55/softhand_ros/master/fc.rosinstall -O .rosinstall
wstool up
rosdep install --ignore-src --from-paths . -y -r -i
cd ~/softhand_ws
catkin build
Udev installation
source ~/softhand_ws/devel/setup.bash
roscd softhand_ros
sudo cp udev/*.rules /etc/udev/rules.d
sudo service udev reload
sudo service udev restart
Softhand Description
Softhand v1
Softhand V1 is designed for contact pressure distribution.
The hand can grasp soft and fragile object with low power, and solid and heavy object with high power.
For more detailed information, please read Design of Soft Flexible Wire-driven Finger Mechanism for Contact Pressure Distribution
Softhand v2
Softhand V2 is designed for waterproof and variable stiffness.
The hand can grasp as softhand v1, but also can massage human’s head and hair.
For more detailed information please read Waterproof Soft Robot Hand with Variable Stiffness Wire-driven Finger Mechanism Using Low Melting Point Alloy for Contact Pressure Distribution and Concentration.
How to use
Launch softhand
For softhand v1
```bash source ~/softhand_ws/devel/setup.bash
for left softhand v1
roslaunch softhand_ros softhand_left.launch
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| eus_teleop | |
| jsk_baxter_startup |
Launch files
- launch/softhand.launch
-
- hand
- device
- mode [default: position]
- launch/softhand_left.launch
-
- device [default: /dev/lhand-e160]
- mode [default: position]
- launch/softhand_right.launch
-
- device [default: /dev/rhand-e160]
- mode [default: position]
- launch/softhand_v2.launch
-
- hand
- device
- mode [default: position]
- launch/softhand_v2_left.launch
-
- device [default: /dev/lhand-v2-e160]
- mode [default: position]
- launch/softhand_v2_right.launch
-
- device [default: /dev/rhand-v2-e160]
- mode [default: position]
Messages
Services
Plugins
Recent questions tagged softhand_ros at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 1.1.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/jsk-ros-pkg/jsk_robot.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-04-02 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Shingo Kitagawa
Authors
- Shingo Kitagawa
softhand_ros
ROS package for SoftHand
Note
This package depends on the branch below.
Citation
Softhand v1
@INPROCEEDINGS{hirose_softhand_v1,
author={Hirose, Toshinori and Kakiuchi, Yohei and Okada, Kei and Inaba, Masayuki},
booktitle={2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
title={Design of Soft Flexible Wire-driven Finger Mechanism for Contact Pressure Distribution},
year={2019},
volume={},
number={},
pages={4699-4705},
doi={10.1109/IROS40897.2019.8968011}
}
Softhand v2
@INPROCEEDINGS{hirose_softhand_v2,
author={Hirose, Toshinori and Kitagawa, Shingo and Hasegawa, Shun and Kakiuchi, Yohei and Okada, Kei and Inaba, Masayuki},
booktitle={2022 IEEE 5th International Conference on Soft Robotics (RoboSoft)},
title={Waterproof Soft Robot Hand with Variable Stiffness Wire-driven Finger Mechanism Using Low Melting Point Alloy for Contact Pressure Distribution and Concentration},
year={2022},
volume={},
number={},
pages={109-116},
doi={10.1109/RoboSoft54090.2022.9762208}
}
Installation
Workspace build
source /opt/ros/$ROS_DISTRO/setup.bash
mkdir ~/softhand_ws/src -p
cd ~/softhand_ws/src
wget https://raw.githubusercontent.com/knorth55/softhand_ros/master/fc.rosinstall -O .rosinstall
wstool up
rosdep install --ignore-src --from-paths . -y -r -i
cd ~/softhand_ws
catkin build
Udev installation
source ~/softhand_ws/devel/setup.bash
roscd softhand_ros
sudo cp udev/*.rules /etc/udev/rules.d
sudo service udev reload
sudo service udev restart
Softhand Description
Softhand v1
Softhand V1 is designed for contact pressure distribution.
The hand can grasp soft and fragile object with low power, and solid and heavy object with high power.
For more detailed information, please read Design of Soft Flexible Wire-driven Finger Mechanism for Contact Pressure Distribution
Softhand v2
Softhand V2 is designed for waterproof and variable stiffness.
The hand can grasp as softhand v1, but also can massage human’s head and hair.
For more detailed information please read Waterproof Soft Robot Hand with Variable Stiffness Wire-driven Finger Mechanism Using Low Melting Point Alloy for Contact Pressure Distribution and Concentration.
How to use
Launch softhand
For softhand v1
```bash source ~/softhand_ws/devel/setup.bash
for left softhand v1
roslaunch softhand_ros softhand_left.launch
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| eus_teleop | |
| jsk_baxter_startup |
Launch files
- launch/softhand.launch
-
- hand
- device
- mode [default: position]
- launch/softhand_left.launch
-
- device [default: /dev/lhand-e160]
- mode [default: position]
- launch/softhand_right.launch
-
- device [default: /dev/rhand-e160]
- mode [default: position]
- launch/softhand_v2.launch
-
- hand
- device
- mode [default: position]
- launch/softhand_v2_left.launch
-
- device [default: /dev/lhand-v2-e160]
- mode [default: position]
- launch/softhand_v2_right.launch
-
- device [default: /dev/rhand-v2-e160]
- mode [default: position]
Messages
Services
Plugins
Recent questions tagged softhand_ros at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 1.1.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/jsk-ros-pkg/jsk_robot.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-04-02 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Shingo Kitagawa
Authors
- Shingo Kitagawa
softhand_ros
ROS package for SoftHand
Note
This package depends on the branch below.
Citation
Softhand v1
@INPROCEEDINGS{hirose_softhand_v1,
author={Hirose, Toshinori and Kakiuchi, Yohei and Okada, Kei and Inaba, Masayuki},
booktitle={2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
title={Design of Soft Flexible Wire-driven Finger Mechanism for Contact Pressure Distribution},
year={2019},
volume={},
number={},
pages={4699-4705},
doi={10.1109/IROS40897.2019.8968011}
}
Softhand v2
@INPROCEEDINGS{hirose_softhand_v2,
author={Hirose, Toshinori and Kitagawa, Shingo and Hasegawa, Shun and Kakiuchi, Yohei and Okada, Kei and Inaba, Masayuki},
booktitle={2022 IEEE 5th International Conference on Soft Robotics (RoboSoft)},
title={Waterproof Soft Robot Hand with Variable Stiffness Wire-driven Finger Mechanism Using Low Melting Point Alloy for Contact Pressure Distribution and Concentration},
year={2022},
volume={},
number={},
pages={109-116},
doi={10.1109/RoboSoft54090.2022.9762208}
}
Installation
Workspace build
source /opt/ros/$ROS_DISTRO/setup.bash
mkdir ~/softhand_ws/src -p
cd ~/softhand_ws/src
wget https://raw.githubusercontent.com/knorth55/softhand_ros/master/fc.rosinstall -O .rosinstall
wstool up
rosdep install --ignore-src --from-paths . -y -r -i
cd ~/softhand_ws
catkin build
Udev installation
source ~/softhand_ws/devel/setup.bash
roscd softhand_ros
sudo cp udev/*.rules /etc/udev/rules.d
sudo service udev reload
sudo service udev restart
Softhand Description
Softhand v1
Softhand V1 is designed for contact pressure distribution.
The hand can grasp soft and fragile object with low power, and solid and heavy object with high power.
For more detailed information, please read Design of Soft Flexible Wire-driven Finger Mechanism for Contact Pressure Distribution
Softhand v2
Softhand V2 is designed for waterproof and variable stiffness.
The hand can grasp as softhand v1, but also can massage human’s head and hair.
For more detailed information please read Waterproof Soft Robot Hand with Variable Stiffness Wire-driven Finger Mechanism Using Low Melting Point Alloy for Contact Pressure Distribution and Concentration.
How to use
Launch softhand
For softhand v1
```bash source ~/softhand_ws/devel/setup.bash
for left softhand v1
roslaunch softhand_ros softhand_left.launch
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| eus_teleop | |
| jsk_baxter_startup |
Launch files
- launch/softhand.launch
-
- hand
- device
- mode [default: position]
- launch/softhand_left.launch
-
- device [default: /dev/lhand-e160]
- mode [default: position]
- launch/softhand_right.launch
-
- device [default: /dev/rhand-e160]
- mode [default: position]
- launch/softhand_v2.launch
-
- hand
- device
- mode [default: position]
- launch/softhand_v2_left.launch
-
- device [default: /dev/lhand-v2-e160]
- mode [default: position]
- launch/softhand_v2_right.launch
-
- device [default: /dev/rhand-v2-e160]
- mode [default: position]
Messages
Services
Plugins
Recent questions tagged softhand_ros at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 1.1.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/jsk-ros-pkg/jsk_robot.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-04-02 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Shingo Kitagawa
Authors
- Shingo Kitagawa
softhand_ros
ROS package for SoftHand
Note
This package depends on the branch below.
Citation
Softhand v1
@INPROCEEDINGS{hirose_softhand_v1,
author={Hirose, Toshinori and Kakiuchi, Yohei and Okada, Kei and Inaba, Masayuki},
booktitle={2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
title={Design of Soft Flexible Wire-driven Finger Mechanism for Contact Pressure Distribution},
year={2019},
volume={},
number={},
pages={4699-4705},
doi={10.1109/IROS40897.2019.8968011}
}
Softhand v2
@INPROCEEDINGS{hirose_softhand_v2,
author={Hirose, Toshinori and Kitagawa, Shingo and Hasegawa, Shun and Kakiuchi, Yohei and Okada, Kei and Inaba, Masayuki},
booktitle={2022 IEEE 5th International Conference on Soft Robotics (RoboSoft)},
title={Waterproof Soft Robot Hand with Variable Stiffness Wire-driven Finger Mechanism Using Low Melting Point Alloy for Contact Pressure Distribution and Concentration},
year={2022},
volume={},
number={},
pages={109-116},
doi={10.1109/RoboSoft54090.2022.9762208}
}
Installation
Workspace build
source /opt/ros/$ROS_DISTRO/setup.bash
mkdir ~/softhand_ws/src -p
cd ~/softhand_ws/src
wget https://raw.githubusercontent.com/knorth55/softhand_ros/master/fc.rosinstall -O .rosinstall
wstool up
rosdep install --ignore-src --from-paths . -y -r -i
cd ~/softhand_ws
catkin build
Udev installation
source ~/softhand_ws/devel/setup.bash
roscd softhand_ros
sudo cp udev/*.rules /etc/udev/rules.d
sudo service udev reload
sudo service udev restart
Softhand Description
Softhand v1
Softhand V1 is designed for contact pressure distribution.
The hand can grasp soft and fragile object with low power, and solid and heavy object with high power.
For more detailed information, please read Design of Soft Flexible Wire-driven Finger Mechanism for Contact Pressure Distribution
Softhand v2
Softhand V2 is designed for waterproof and variable stiffness.
The hand can grasp as softhand v1, but also can massage human’s head and hair.
For more detailed information please read Waterproof Soft Robot Hand with Variable Stiffness Wire-driven Finger Mechanism Using Low Melting Point Alloy for Contact Pressure Distribution and Concentration.
How to use
Launch softhand
For softhand v1
```bash source ~/softhand_ws/devel/setup.bash
for left softhand v1
roslaunch softhand_ros softhand_left.launch
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| eus_teleop | |
| jsk_baxter_startup |
Launch files
- launch/softhand.launch
-
- hand
- device
- mode [default: position]
- launch/softhand_left.launch
-
- device [default: /dev/lhand-e160]
- mode [default: position]
- launch/softhand_right.launch
-
- device [default: /dev/rhand-e160]
- mode [default: position]
- launch/softhand_v2.launch
-
- hand
- device
- mode [default: position]
- launch/softhand_v2_left.launch
-
- device [default: /dev/lhand-v2-e160]
- mode [default: position]
- launch/softhand_v2_right.launch
-
- device [default: /dev/rhand-v2-e160]
- mode [default: position]
Messages
Services
Plugins
Recent questions tagged softhand_ros at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 1.1.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/jsk-ros-pkg/jsk_robot.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-04-02 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Shingo Kitagawa
Authors
- Shingo Kitagawa
softhand_ros
ROS package for SoftHand
Note
This package depends on the branch below.
Citation
Softhand v1
@INPROCEEDINGS{hirose_softhand_v1,
author={Hirose, Toshinori and Kakiuchi, Yohei and Okada, Kei and Inaba, Masayuki},
booktitle={2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
title={Design of Soft Flexible Wire-driven Finger Mechanism for Contact Pressure Distribution},
year={2019},
volume={},
number={},
pages={4699-4705},
doi={10.1109/IROS40897.2019.8968011}
}
Softhand v2
@INPROCEEDINGS{hirose_softhand_v2,
author={Hirose, Toshinori and Kitagawa, Shingo and Hasegawa, Shun and Kakiuchi, Yohei and Okada, Kei and Inaba, Masayuki},
booktitle={2022 IEEE 5th International Conference on Soft Robotics (RoboSoft)},
title={Waterproof Soft Robot Hand with Variable Stiffness Wire-driven Finger Mechanism Using Low Melting Point Alloy for Contact Pressure Distribution and Concentration},
year={2022},
volume={},
number={},
pages={109-116},
doi={10.1109/RoboSoft54090.2022.9762208}
}
Installation
Workspace build
source /opt/ros/$ROS_DISTRO/setup.bash
mkdir ~/softhand_ws/src -p
cd ~/softhand_ws/src
wget https://raw.githubusercontent.com/knorth55/softhand_ros/master/fc.rosinstall -O .rosinstall
wstool up
rosdep install --ignore-src --from-paths . -y -r -i
cd ~/softhand_ws
catkin build
Udev installation
source ~/softhand_ws/devel/setup.bash
roscd softhand_ros
sudo cp udev/*.rules /etc/udev/rules.d
sudo service udev reload
sudo service udev restart
Softhand Description
Softhand v1
Softhand V1 is designed for contact pressure distribution.
The hand can grasp soft and fragile object with low power, and solid and heavy object with high power.
For more detailed information, please read Design of Soft Flexible Wire-driven Finger Mechanism for Contact Pressure Distribution
Softhand v2
Softhand V2 is designed for waterproof and variable stiffness.
The hand can grasp as softhand v1, but also can massage human’s head and hair.
For more detailed information please read Waterproof Soft Robot Hand with Variable Stiffness Wire-driven Finger Mechanism Using Low Melting Point Alloy for Contact Pressure Distribution and Concentration.
How to use
Launch softhand
For softhand v1
```bash source ~/softhand_ws/devel/setup.bash
for left softhand v1
roslaunch softhand_ros softhand_left.launch
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| eus_teleop | |
| jsk_baxter_startup |
Launch files
- launch/softhand.launch
-
- hand
- device
- mode [default: position]
- launch/softhand_left.launch
-
- device [default: /dev/lhand-e160]
- mode [default: position]
- launch/softhand_right.launch
-
- device [default: /dev/rhand-e160]
- mode [default: position]
- launch/softhand_v2.launch
-
- hand
- device
- mode [default: position]
- launch/softhand_v2_left.launch
-
- device [default: /dev/lhand-v2-e160]
- mode [default: position]
- launch/softhand_v2_right.launch
-
- device [default: /dev/rhand-v2-e160]
- mode [default: position]
Messages
Services
Plugins
Recent questions tagged softhand_ros at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 1.1.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/jsk-ros-pkg/jsk_robot.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-04-02 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Shingo Kitagawa
Authors
- Shingo Kitagawa
softhand_ros
ROS package for SoftHand
Note
This package depends on the branch below.
Citation
Softhand v1
@INPROCEEDINGS{hirose_softhand_v1,
author={Hirose, Toshinori and Kakiuchi, Yohei and Okada, Kei and Inaba, Masayuki},
booktitle={2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
title={Design of Soft Flexible Wire-driven Finger Mechanism for Contact Pressure Distribution},
year={2019},
volume={},
number={},
pages={4699-4705},
doi={10.1109/IROS40897.2019.8968011}
}
Softhand v2
@INPROCEEDINGS{hirose_softhand_v2,
author={Hirose, Toshinori and Kitagawa, Shingo and Hasegawa, Shun and Kakiuchi, Yohei and Okada, Kei and Inaba, Masayuki},
booktitle={2022 IEEE 5th International Conference on Soft Robotics (RoboSoft)},
title={Waterproof Soft Robot Hand with Variable Stiffness Wire-driven Finger Mechanism Using Low Melting Point Alloy for Contact Pressure Distribution and Concentration},
year={2022},
volume={},
number={},
pages={109-116},
doi={10.1109/RoboSoft54090.2022.9762208}
}
Installation
Workspace build
source /opt/ros/$ROS_DISTRO/setup.bash
mkdir ~/softhand_ws/src -p
cd ~/softhand_ws/src
wget https://raw.githubusercontent.com/knorth55/softhand_ros/master/fc.rosinstall -O .rosinstall
wstool up
rosdep install --ignore-src --from-paths . -y -r -i
cd ~/softhand_ws
catkin build
Udev installation
source ~/softhand_ws/devel/setup.bash
roscd softhand_ros
sudo cp udev/*.rules /etc/udev/rules.d
sudo service udev reload
sudo service udev restart
Softhand Description
Softhand v1
Softhand V1 is designed for contact pressure distribution.
The hand can grasp soft and fragile object with low power, and solid and heavy object with high power.
For more detailed information, please read Design of Soft Flexible Wire-driven Finger Mechanism for Contact Pressure Distribution
Softhand v2
Softhand V2 is designed for waterproof and variable stiffness.
The hand can grasp as softhand v1, but also can massage human’s head and hair.
For more detailed information please read Waterproof Soft Robot Hand with Variable Stiffness Wire-driven Finger Mechanism Using Low Melting Point Alloy for Contact Pressure Distribution and Concentration.
How to use
Launch softhand
For softhand v1
```bash source ~/softhand_ws/devel/setup.bash
for left softhand v1
roslaunch softhand_ros softhand_left.launch
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| eus_teleop | |
| jsk_baxter_startup |
Launch files
- launch/softhand.launch
-
- hand
- device
- mode [default: position]
- launch/softhand_left.launch
-
- device [default: /dev/lhand-e160]
- mode [default: position]
- launch/softhand_right.launch
-
- device [default: /dev/rhand-e160]
- mode [default: position]
- launch/softhand_v2.launch
-
- hand
- device
- mode [default: position]
- launch/softhand_v2_left.launch
-
- device [default: /dev/lhand-v2-e160]
- mode [default: position]
- launch/softhand_v2_right.launch
-
- device [default: /dev/rhand-v2-e160]
- mode [default: position]
Messages
Services
Plugins
Recent questions tagged softhand_ros at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 1.1.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/jsk-ros-pkg/jsk_robot.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-04-02 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Shingo Kitagawa
Authors
- Shingo Kitagawa
softhand_ros
ROS package for SoftHand
Note
This package depends on the branch below.
Citation
Softhand v1
@INPROCEEDINGS{hirose_softhand_v1,
author={Hirose, Toshinori and Kakiuchi, Yohei and Okada, Kei and Inaba, Masayuki},
booktitle={2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
title={Design of Soft Flexible Wire-driven Finger Mechanism for Contact Pressure Distribution},
year={2019},
volume={},
number={},
pages={4699-4705},
doi={10.1109/IROS40897.2019.8968011}
}
Softhand v2
@INPROCEEDINGS{hirose_softhand_v2,
author={Hirose, Toshinori and Kitagawa, Shingo and Hasegawa, Shun and Kakiuchi, Yohei and Okada, Kei and Inaba, Masayuki},
booktitle={2022 IEEE 5th International Conference on Soft Robotics (RoboSoft)},
title={Waterproof Soft Robot Hand with Variable Stiffness Wire-driven Finger Mechanism Using Low Melting Point Alloy for Contact Pressure Distribution and Concentration},
year={2022},
volume={},
number={},
pages={109-116},
doi={10.1109/RoboSoft54090.2022.9762208}
}
Installation
Workspace build
source /opt/ros/$ROS_DISTRO/setup.bash
mkdir ~/softhand_ws/src -p
cd ~/softhand_ws/src
wget https://raw.githubusercontent.com/knorth55/softhand_ros/master/fc.rosinstall -O .rosinstall
wstool up
rosdep install --ignore-src --from-paths . -y -r -i
cd ~/softhand_ws
catkin build
Udev installation
source ~/softhand_ws/devel/setup.bash
roscd softhand_ros
sudo cp udev/*.rules /etc/udev/rules.d
sudo service udev reload
sudo service udev restart
Softhand Description
Softhand v1
Softhand V1 is designed for contact pressure distribution.
The hand can grasp soft and fragile object with low power, and solid and heavy object with high power.
For more detailed information, please read Design of Soft Flexible Wire-driven Finger Mechanism for Contact Pressure Distribution
Softhand v2
Softhand V2 is designed for waterproof and variable stiffness.
The hand can grasp as softhand v1, but also can massage human’s head and hair.
For more detailed information please read Waterproof Soft Robot Hand with Variable Stiffness Wire-driven Finger Mechanism Using Low Melting Point Alloy for Contact Pressure Distribution and Concentration.
How to use
Launch softhand
For softhand v1
```bash source ~/softhand_ws/devel/setup.bash
for left softhand v1
roslaunch softhand_ros softhand_left.launch
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| eus_teleop | |
| jsk_baxter_startup |
Launch files
- launch/softhand.launch
-
- hand
- device
- mode [default: position]
- launch/softhand_left.launch
-
- device [default: /dev/lhand-e160]
- mode [default: position]
- launch/softhand_right.launch
-
- device [default: /dev/rhand-e160]
- mode [default: position]
- launch/softhand_v2.launch
-
- hand
- device
- mode [default: position]
- launch/softhand_v2_left.launch
-
- device [default: /dev/lhand-v2-e160]
- mode [default: position]
- launch/softhand_v2_right.launch
-
- device [default: /dev/rhand-v2-e160]
- mode [default: position]
Messages
Services
Plugins
Recent questions tagged softhand_ros at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 1.1.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/jsk-ros-pkg/jsk_robot.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-04-02 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Shingo Kitagawa
Authors
- Shingo Kitagawa
softhand_ros
ROS package for SoftHand
Note
This package depends on the branch below.
Citation
Softhand v1
@INPROCEEDINGS{hirose_softhand_v1,
author={Hirose, Toshinori and Kakiuchi, Yohei and Okada, Kei and Inaba, Masayuki},
booktitle={2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
title={Design of Soft Flexible Wire-driven Finger Mechanism for Contact Pressure Distribution},
year={2019},
volume={},
number={},
pages={4699-4705},
doi={10.1109/IROS40897.2019.8968011}
}
Softhand v2
@INPROCEEDINGS{hirose_softhand_v2,
author={Hirose, Toshinori and Kitagawa, Shingo and Hasegawa, Shun and Kakiuchi, Yohei and Okada, Kei and Inaba, Masayuki},
booktitle={2022 IEEE 5th International Conference on Soft Robotics (RoboSoft)},
title={Waterproof Soft Robot Hand with Variable Stiffness Wire-driven Finger Mechanism Using Low Melting Point Alloy for Contact Pressure Distribution and Concentration},
year={2022},
volume={},
number={},
pages={109-116},
doi={10.1109/RoboSoft54090.2022.9762208}
}
Installation
Workspace build
source /opt/ros/$ROS_DISTRO/setup.bash
mkdir ~/softhand_ws/src -p
cd ~/softhand_ws/src
wget https://raw.githubusercontent.com/knorth55/softhand_ros/master/fc.rosinstall -O .rosinstall
wstool up
rosdep install --ignore-src --from-paths . -y -r -i
cd ~/softhand_ws
catkin build
Udev installation
source ~/softhand_ws/devel/setup.bash
roscd softhand_ros
sudo cp udev/*.rules /etc/udev/rules.d
sudo service udev reload
sudo service udev restart
Softhand Description
Softhand v1
Softhand V1 is designed for contact pressure distribution.
The hand can grasp soft and fragile object with low power, and solid and heavy object with high power.
For more detailed information, please read Design of Soft Flexible Wire-driven Finger Mechanism for Contact Pressure Distribution
Softhand v2
Softhand V2 is designed for waterproof and variable stiffness.
The hand can grasp as softhand v1, but also can massage human’s head and hair.
For more detailed information please read Waterproof Soft Robot Hand with Variable Stiffness Wire-driven Finger Mechanism Using Low Melting Point Alloy for Contact Pressure Distribution and Concentration.
How to use
Launch softhand
For softhand v1
```bash source ~/softhand_ws/devel/setup.bash
for left softhand v1
roslaunch softhand_ros softhand_left.launch
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| eus_teleop | |
| jsk_baxter_startup |
Launch files
- launch/softhand.launch
-
- hand
- device
- mode [default: position]
- launch/softhand_left.launch
-
- device [default: /dev/lhand-e160]
- mode [default: position]
- launch/softhand_right.launch
-
- device [default: /dev/rhand-e160]
- mode [default: position]
- launch/softhand_v2.launch
-
- hand
- device
- mode [default: position]
- launch/softhand_v2_left.launch
-
- device [default: /dev/lhand-v2-e160]
- mode [default: position]
- launch/softhand_v2_right.launch
-
- device [default: /dev/rhand-v2-e160]
- mode [default: position]
Messages
Services
Plugins
Recent questions tagged softhand_ros at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 1.1.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/jsk-ros-pkg/jsk_robot.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-04-02 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Shingo Kitagawa
Authors
- Shingo Kitagawa
softhand_ros
ROS package for SoftHand
Note
This package depends on the branch below.
Citation
Softhand v1
@INPROCEEDINGS{hirose_softhand_v1,
author={Hirose, Toshinori and Kakiuchi, Yohei and Okada, Kei and Inaba, Masayuki},
booktitle={2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
title={Design of Soft Flexible Wire-driven Finger Mechanism for Contact Pressure Distribution},
year={2019},
volume={},
number={},
pages={4699-4705},
doi={10.1109/IROS40897.2019.8968011}
}
Softhand v2
@INPROCEEDINGS{hirose_softhand_v2,
author={Hirose, Toshinori and Kitagawa, Shingo and Hasegawa, Shun and Kakiuchi, Yohei and Okada, Kei and Inaba, Masayuki},
booktitle={2022 IEEE 5th International Conference on Soft Robotics (RoboSoft)},
title={Waterproof Soft Robot Hand with Variable Stiffness Wire-driven Finger Mechanism Using Low Melting Point Alloy for Contact Pressure Distribution and Concentration},
year={2022},
volume={},
number={},
pages={109-116},
doi={10.1109/RoboSoft54090.2022.9762208}
}
Installation
Workspace build
source /opt/ros/$ROS_DISTRO/setup.bash
mkdir ~/softhand_ws/src -p
cd ~/softhand_ws/src
wget https://raw.githubusercontent.com/knorth55/softhand_ros/master/fc.rosinstall -O .rosinstall
wstool up
rosdep install --ignore-src --from-paths . -y -r -i
cd ~/softhand_ws
catkin build
Udev installation
source ~/softhand_ws/devel/setup.bash
roscd softhand_ros
sudo cp udev/*.rules /etc/udev/rules.d
sudo service udev reload
sudo service udev restart
Softhand Description
Softhand v1
Softhand V1 is designed for contact pressure distribution.
The hand can grasp soft and fragile object with low power, and solid and heavy object with high power.
For more detailed information, please read Design of Soft Flexible Wire-driven Finger Mechanism for Contact Pressure Distribution
Softhand v2
Softhand V2 is designed for waterproof and variable stiffness.
The hand can grasp as softhand v1, but also can massage human’s head and hair.
For more detailed information please read Waterproof Soft Robot Hand with Variable Stiffness Wire-driven Finger Mechanism Using Low Melting Point Alloy for Contact Pressure Distribution and Concentration.
How to use
Launch softhand
For softhand v1
```bash source ~/softhand_ws/devel/setup.bash
for left softhand v1
roslaunch softhand_ros softhand_left.launch
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| eus_teleop | |
| jsk_baxter_startup |
Launch files
- launch/softhand.launch
-
- hand
- device
- mode [default: position]
- launch/softhand_left.launch
-
- device [default: /dev/lhand-e160]
- mode [default: position]
- launch/softhand_right.launch
-
- device [default: /dev/rhand-e160]
- mode [default: position]
- launch/softhand_v2.launch
-
- hand
- device
- mode [default: position]
- launch/softhand_v2_left.launch
-
- device [default: /dev/lhand-v2-e160]
- mode [default: position]
- launch/softhand_v2_right.launch
-
- device [default: /dev/rhand-v2-e160]
- mode [default: position]
Messages
Services
Plugins
Recent questions tagged softhand_ros at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 1.1.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/jsk-ros-pkg/jsk_robot.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-04-02 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Shingo Kitagawa
Authors
- Shingo Kitagawa
softhand_ros
ROS package for SoftHand
Note
This package depends on the branch below.
Citation
Softhand v1
@INPROCEEDINGS{hirose_softhand_v1,
author={Hirose, Toshinori and Kakiuchi, Yohei and Okada, Kei and Inaba, Masayuki},
booktitle={2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
title={Design of Soft Flexible Wire-driven Finger Mechanism for Contact Pressure Distribution},
year={2019},
volume={},
number={},
pages={4699-4705},
doi={10.1109/IROS40897.2019.8968011}
}
Softhand v2
@INPROCEEDINGS{hirose_softhand_v2,
author={Hirose, Toshinori and Kitagawa, Shingo and Hasegawa, Shun and Kakiuchi, Yohei and Okada, Kei and Inaba, Masayuki},
booktitle={2022 IEEE 5th International Conference on Soft Robotics (RoboSoft)},
title={Waterproof Soft Robot Hand with Variable Stiffness Wire-driven Finger Mechanism Using Low Melting Point Alloy for Contact Pressure Distribution and Concentration},
year={2022},
volume={},
number={},
pages={109-116},
doi={10.1109/RoboSoft54090.2022.9762208}
}
Installation
Workspace build
source /opt/ros/$ROS_DISTRO/setup.bash
mkdir ~/softhand_ws/src -p
cd ~/softhand_ws/src
wget https://raw.githubusercontent.com/knorth55/softhand_ros/master/fc.rosinstall -O .rosinstall
wstool up
rosdep install --ignore-src --from-paths . -y -r -i
cd ~/softhand_ws
catkin build
Udev installation
source ~/softhand_ws/devel/setup.bash
roscd softhand_ros
sudo cp udev/*.rules /etc/udev/rules.d
sudo service udev reload
sudo service udev restart
Softhand Description
Softhand v1
Softhand V1 is designed for contact pressure distribution.
The hand can grasp soft and fragile object with low power, and solid and heavy object with high power.
For more detailed information, please read Design of Soft Flexible Wire-driven Finger Mechanism for Contact Pressure Distribution
Softhand v2
Softhand V2 is designed for waterproof and variable stiffness.
The hand can grasp as softhand v1, but also can massage human’s head and hair.
For more detailed information please read Waterproof Soft Robot Hand with Variable Stiffness Wire-driven Finger Mechanism Using Low Melting Point Alloy for Contact Pressure Distribution and Concentration.
How to use
Launch softhand
For softhand v1
```bash source ~/softhand_ws/devel/setup.bash
for left softhand v1
roslaunch softhand_ros softhand_left.launch
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| eus_teleop | |
| jsk_baxter_startup |
Launch files
- launch/softhand.launch
-
- hand
- device
- mode [default: position]
- launch/softhand_left.launch
-
- device [default: /dev/lhand-e160]
- mode [default: position]
- launch/softhand_right.launch
-
- device [default: /dev/rhand-e160]
- mode [default: position]
- launch/softhand_v2.launch
-
- hand
- device
- mode [default: position]
- launch/softhand_v2_left.launch
-
- device [default: /dev/lhand-v2-e160]
- mode [default: position]
- launch/softhand_v2_right.launch
-
- device [default: /dev/rhand-v2-e160]
- mode [default: position]
Messages
Services
Plugins
Recent questions tagged softhand_ros at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 1.1.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/jsk-ros-pkg/jsk_robot.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-04-02 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Shingo Kitagawa
Authors
- Shingo Kitagawa
softhand_ros
ROS package for SoftHand
Note
This package depends on the branch below.
Citation
Softhand v1
@INPROCEEDINGS{hirose_softhand_v1,
author={Hirose, Toshinori and Kakiuchi, Yohei and Okada, Kei and Inaba, Masayuki},
booktitle={2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
title={Design of Soft Flexible Wire-driven Finger Mechanism for Contact Pressure Distribution},
year={2019},
volume={},
number={},
pages={4699-4705},
doi={10.1109/IROS40897.2019.8968011}
}
Softhand v2
@INPROCEEDINGS{hirose_softhand_v2,
author={Hirose, Toshinori and Kitagawa, Shingo and Hasegawa, Shun and Kakiuchi, Yohei and Okada, Kei and Inaba, Masayuki},
booktitle={2022 IEEE 5th International Conference on Soft Robotics (RoboSoft)},
title={Waterproof Soft Robot Hand with Variable Stiffness Wire-driven Finger Mechanism Using Low Melting Point Alloy for Contact Pressure Distribution and Concentration},
year={2022},
volume={},
number={},
pages={109-116},
doi={10.1109/RoboSoft54090.2022.9762208}
}
Installation
Workspace build
source /opt/ros/$ROS_DISTRO/setup.bash
mkdir ~/softhand_ws/src -p
cd ~/softhand_ws/src
wget https://raw.githubusercontent.com/knorth55/softhand_ros/master/fc.rosinstall -O .rosinstall
wstool up
rosdep install --ignore-src --from-paths . -y -r -i
cd ~/softhand_ws
catkin build
Udev installation
source ~/softhand_ws/devel/setup.bash
roscd softhand_ros
sudo cp udev/*.rules /etc/udev/rules.d
sudo service udev reload
sudo service udev restart
Softhand Description
Softhand v1
Softhand V1 is designed for contact pressure distribution.
The hand can grasp soft and fragile object with low power, and solid and heavy object with high power.
For more detailed information, please read Design of Soft Flexible Wire-driven Finger Mechanism for Contact Pressure Distribution
Softhand v2
Softhand V2 is designed for waterproof and variable stiffness.
The hand can grasp as softhand v1, but also can massage human’s head and hair.
For more detailed information please read Waterproof Soft Robot Hand with Variable Stiffness Wire-driven Finger Mechanism Using Low Melting Point Alloy for Contact Pressure Distribution and Concentration.
How to use
Launch softhand
For softhand v1
```bash source ~/softhand_ws/devel/setup.bash
for left softhand v1
roslaunch softhand_ros softhand_left.launch
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| eus_teleop | |
| jsk_baxter_startup |
Launch files
- launch/softhand.launch
-
- hand
- device
- mode [default: position]
- launch/softhand_left.launch
-
- device [default: /dev/lhand-e160]
- mode [default: position]
- launch/softhand_right.launch
-
- device [default: /dev/rhand-e160]
- mode [default: position]
- launch/softhand_v2.launch
-
- hand
- device
- mode [default: position]
- launch/softhand_v2_left.launch
-
- device [default: /dev/lhand-v2-e160]
- mode [default: position]
- launch/softhand_v2_right.launch
-
- device [default: /dev/rhand-v2-e160]
- mode [default: position]
Messages
Services
Plugins
Recent questions tagged softhand_ros at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 1.1.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/jsk-ros-pkg/jsk_robot.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-04-02 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Shingo Kitagawa
Authors
- Shingo Kitagawa
softhand_ros
ROS package for SoftHand
Note
This package depends on the branch below.
Citation
Softhand v1
@INPROCEEDINGS{hirose_softhand_v1,
author={Hirose, Toshinori and Kakiuchi, Yohei and Okada, Kei and Inaba, Masayuki},
booktitle={2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
title={Design of Soft Flexible Wire-driven Finger Mechanism for Contact Pressure Distribution},
year={2019},
volume={},
number={},
pages={4699-4705},
doi={10.1109/IROS40897.2019.8968011}
}
Softhand v2
@INPROCEEDINGS{hirose_softhand_v2,
author={Hirose, Toshinori and Kitagawa, Shingo and Hasegawa, Shun and Kakiuchi, Yohei and Okada, Kei and Inaba, Masayuki},
booktitle={2022 IEEE 5th International Conference on Soft Robotics (RoboSoft)},
title={Waterproof Soft Robot Hand with Variable Stiffness Wire-driven Finger Mechanism Using Low Melting Point Alloy for Contact Pressure Distribution and Concentration},
year={2022},
volume={},
number={},
pages={109-116},
doi={10.1109/RoboSoft54090.2022.9762208}
}
Installation
Workspace build
source /opt/ros/$ROS_DISTRO/setup.bash
mkdir ~/softhand_ws/src -p
cd ~/softhand_ws/src
wget https://raw.githubusercontent.com/knorth55/softhand_ros/master/fc.rosinstall -O .rosinstall
wstool up
rosdep install --ignore-src --from-paths . -y -r -i
cd ~/softhand_ws
catkin build
Udev installation
source ~/softhand_ws/devel/setup.bash
roscd softhand_ros
sudo cp udev/*.rules /etc/udev/rules.d
sudo service udev reload
sudo service udev restart
Softhand Description
Softhand v1
Softhand V1 is designed for contact pressure distribution.
The hand can grasp soft and fragile object with low power, and solid and heavy object with high power.
For more detailed information, please read Design of Soft Flexible Wire-driven Finger Mechanism for Contact Pressure Distribution
Softhand v2
Softhand V2 is designed for waterproof and variable stiffness.
The hand can grasp as softhand v1, but also can massage human’s head and hair.
For more detailed information please read Waterproof Soft Robot Hand with Variable Stiffness Wire-driven Finger Mechanism Using Low Melting Point Alloy for Contact Pressure Distribution and Concentration.
How to use
Launch softhand
For softhand v1
```bash source ~/softhand_ws/devel/setup.bash
for left softhand v1
roslaunch softhand_ros softhand_left.launch
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| eus_teleop | |
| jsk_baxter_startup |
Launch files
- launch/softhand.launch
-
- hand
- device
- mode [default: position]
- launch/softhand_left.launch
-
- device [default: /dev/lhand-e160]
- mode [default: position]
- launch/softhand_right.launch
-
- device [default: /dev/rhand-e160]
- mode [default: position]
- launch/softhand_v2.launch
-
- hand
- device
- mode [default: position]
- launch/softhand_v2_left.launch
-
- device [default: /dev/lhand-v2-e160]
- mode [default: position]
- launch/softhand_v2_right.launch
-
- device [default: /dev/rhand-v2-e160]
- mode [default: position]