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arXiv · 2602.14104

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

Xinan Rong·Changhuang Wan·Aochen He·Xiaolong Li·Gangshan Jing
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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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Xinan Rong, Changhuang Wan, Aochen He, Xiaolong Li, Gangshan Jing. 2026-02-15. Rigidity-Based Multi-Finger Coordination for Precise In-Hand Manipulation of Force-Sensitive Objects. https://arxiv.org/abs/2602.14104

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