# A versatile robotic hand with 3D perception, force sensing for autonomous manipulation

arXiv: https://arxiv.org/abs/2402.06018 · HTML: https://mlsanity.com/paper/2402.06018/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 8 Feb 2024.

## Built on by (most cited first, 1 of 1)

- [Unfettered Forceful Skill Acquisition with Physical Reasoning and Coordinate Frame Labeling](https://mlsanity.com/paper/2505.09731/) (2025)

## Abstract (arXiv)

We describe a force-controlled robotic gripper with built-in tactile and 3D perception. We also describe a complete autonomous manipulation pipeline consisting of object detection, segmentation, point cloud processing, force-controlled manipulation, and symbolic (re)-planning. The design emphasizes versatility in terms of applications, manufacturability, use of commercial off-the-shelf parts, and open-source software. We validate the design by characterizing force control (achieving up to 32N, controllable in steps of 0.08N), force measurement, and two manipulation demonstrations: assembly of the Siemens gear assembly problem, and a sensor-based stacking task requiring replanning. These demonstrate robust execution of long sequences of sensor-based manipulation tasks, which makes the resulting platform a solid foundation for researchers in task-and-motion planning, educators, and quick prototyping of household, industrial and warehouse automation tasks.