Science Robotics

Supplementary Materials

The PDF file includes:

  • Fig. S1. Hand CAD model showing the finger ligament designs.
  • Fig. S2. Full experimental setup.
  • Fig. S3. Block diagram of the system for piano playing.
  • Fig. S4. Experimental method to determine the compliance of a single finger.
  • Fig. S5. Toccata music separated into regions.
  • Fig. S6. Flow chart of the motion planning required for playing Toccata.
  • Fig. S7. Alligator Crawl.
  • Fig. S8. Flow chart for Alligator Crawl.
  • Fig. S9. Adapted music for Rhapsody in Blue and motion planning flowchart.
  • Table S1. 3D-printed materials used and their material properties.
  • Table S2. Summary of arm control parameters.
  • Table S3. Summary of arm parameters used in the arm control for playing Toccata.
  • Table S4. Summary of arm parameters used in the arm control for playing Toccata.
  • Table S5. Summary of arm parameters used in the arm control for playing Rhapsody in Blue.
  • Legends for movies S1 to S5

Download PDF

Other Supplementary Material for this manuscript includes the following:

  • Movie S1 (.mp4 format). Fabrication.
  • Movie S2 (.mp4 format). Single-finger behavior.
  • Movie S3 (.mp4 format). Abduction/adduction behavior.
  • Movie S4 (.mp4 format). Hand span playing behavior.
  • Movie S5 (.mp4 format). Three pieces of music playing.

Files in this Data Supplement: