Rigidity-Based Multi-Finger Coordination for Precise In-Hand Manipulation of Force-Sensitive Objects

• URL: http://arxiv.org/abs/2602.14104v1
• Date: Sun, 15 Feb 2026 11:40:39 GMT
• Title: Rigidity-Based Multi-Finger Coordination for Precise In-Hand Manipulation of Force-Sensitive Objects
• Abstract summary: Multi-fingered hands rely solely on fingertip point contacts and are not able to apply pull forces.<n>We propose a dual-layer framework for multi-finger coordination, enabling high-precision manipulation of force-sensitive objects.<n>We validate the framework on a custom dexterous hand, demonstrating the capability to manipulate fragile objects.
• Score: 5.313029497667778
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Precise in-hand manipulation of force-sensitive objects typically requires judicious coordinated force planning as well as accurate contact force feedback and control. Unlike multi-arm platforms with gripper end effectors, multi-fingered hands rely solely on fingertip point contacts and are not able to apply pull forces, therefore poses a more challenging problem. Furthermore, calibrated torque sensors are lacking in most commercial dexterous hands, adding to the difficulty. To address these challenges, we propose a dual-layer framework for multi-finger coordination, enabling high-precision manipulation of force-sensitive objects through joint control without tactile feedback. This approach solves coordinated contact force planning by incorporating graph rigidity and force closure constraints. By employing a force-to-position mapping, the planned force trajectory is converted to a joint trajectory. We validate the framework on a custom dexterous hand, demonstrating the capability to manipulate fragile objects-including a soft yarn, a plastic cup, and a raw egg-with high precision and safety.

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