vignif / robot-handshake-ros-nodes

This repo contains the source code and the workspace for the development of my masterthesis on human-robot handshake. The low level control of the pisa/iit softhand was forked by the official channels(my fork is available in another repo). here you can also find outcomes of the force sensors used to capture the human grasping force. feel free to use for academic purpose with proper acknowledgements

Human-Robot handshake

This repo contains the ros nodes for running the experiment presented in the work https://ieeexplore.ieee.org/document/8613850

This repo involves ros packages of SoftHand from Pisa/IIT and additional packages has been developed in order to improve the control of the hand.

The softhand has been upgraded with FSR sensors in order to execute a handshake between human and robot.

GUI

the folder GUI_handshake provides a useful program to easily try different demos. The GUI is built using GTK/C++. feel free to use it as model for your personal GUI in ROS.

you can find more infos at https://sites.google.com/view/human-robot-handshake/home a cleaned version of the package can be found in https://github.com/vignif/robot-handshake-ros-release