E-TRoll Hand/Gripper

The *E-TRoll* (Enhanced Tactile Rolling) Hand is a 3DoF Robotic Hand/Gripper with a prismatic palm and two revolute fingers. This hand is originally designed for rolling prismatic objects (and collecting tactile data), but it can be used for grasping, caging, and other in-hand manipulation techniques.

This hand uses Dynamixel XM430-W350 servo actuators. See 'Assembly Instructions' for a full list of required materials.

* Academic Paper (presented at IROS 2022, Kyoto): https://arxiv.org/abs/2212.04347

* Video Demo:
https://www.youtube.com/watch?v=g4cLbBfs0j4&ab_channel=Manipulation%26TouchLab