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.