In-Hand Sliding Regrasp with Spring-Sliding Compliance and External Constraints

Jian Shi, Huan Weng*, Kevin M. Lynch

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

1 Scopus citations


We investigate in-hand regrasping by pushing an object against an external constraint and allowing sliding at the fingertips. Each fingertip is modeled as attached to a multidimensional spring mounted to a position-controlled anchor. Spring compliance maps contact forces to spring compressions, ensuring the fingers remain in contact, and sliding 'compliance' governs the relationship between sliding motions and tangential contact forces. A spring-sliding compliant regrasp is achieved by controlling the finger anchor motions. We derive the fingertip sliding mechanics for multifingered sliding regrasps and analyze robust regrasping conditions in the presence of finger contact wrench uncertainties. The results are verified in simulation and experiment with a two-fingered sliding regrasp designed to maximize robustness of the operation.

Original languageEnglish (US)
Article number9081917
Pages (from-to)88729-88744
Number of pages16
JournalIEEE Access
StatePublished - 2020


  • Finger contact mechanics
  • motion planning
  • robotic manipulation
  • sliding regrasp
  • spring-sliding compliance
  • wrench uncertainty

ASJC Scopus subject areas

  • Computer Science(all)
  • Materials Science(all)
  • Engineering(all)


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