During the last two months  we focused on the following aspects.

• Mapping  algorithms  with the DLR-HIT  II hand.  In particular we implemented joint to joint  mapping,  while fingertip  mapping  and  the  proposed  virtual  sphere  mapping  are ongoing activities.

•  Calibration and  tests  of the  sensorized  object.   In the  current  version the  system  can acquire the contact  force vector and position on any surface of the object.

During the last two months  we focused on the following aspect.

• The  algorithm  for mapping  human  synergies onto  robotic  hands  with  dissimilar  kinematic  structures has been tested  through  several simulation  with  a three  fingers eight joints  fully actuated hand  model.  In particular, improvements  with respect  to existing in literature mapping  algorithm  have been demonstrated.

• The DLR-HIT  II hands  has been installed  at UNISI. Major functionalities of the hand and the user interface have been tested.  The implementation of our mapping  procedure in this robotic hand  has started.

• The hardware  of the instrumented object which consists of the instrumented core sensors and the electronics has been completed.  Calibration, testing and software development have progressed significantly and are ongoing activities.

The DLR-HIT II hand @ UNISI

The DLR-HIT II hand is finally arrived in our Lab!!!

In the last two months  the work of the HANDS.DVI partners has been focused on

• designing the  algorithm  of mapping  synergies from the  paradigmatic hand,  the  model of the human  hand,  to robotic  manipulators with general kinematics

• realizing the experimental setups to be used in the next period of the project to validate the project  results  of HANDS.DVI.

Note that for the  experimental setup  we planned  to use a DLR-HIT  hand  II. However, the delivery  of the  DLR  hand  has  been  delayed  to  the  beginning  of September.   To  mitigate the  effect of this  delay  we have  planned  to  start using  other  two  hands  developed  in  the laboratories of Siena and Pisa.

During the last two months our work has been focused especially on the third task EXP. In particular we completed the design of the instrumented object that will be used to measure forces and torques involved in robot grasp measurement and control. The project

specifications for the object are here summarized:

• possibility to get different shapes (cube, sphere, cylinder)

• forces and torques measurement at selected contact points

• measurement of contact point positions

We decided to develop a single instrumented core object on which external faces can be mounted creating several interaction geometries.