Hand skin and tissue provide important functions for manipulation. The compliance of the inner soft tissue provides durability for the hard portions of the hand as well as provides contact area that supports stable forces for manipulation and grip. The outer skin layer, on the other hand is harder and provides low friction during exploratory tasks and durability protection against wear. Current hands/grippers have been optimized for limiting motion. In HAND we are targeting skin and tissue that can provide for durability, friction properties that enable dexterous manipulation, and enhance sensing structures within the skin.

Image of finger in contact with a device. We must consider the multi-scale material and geometric properties to achieve durability and performance.