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Tian, et al.
Appendix

Click this link to access the supplemental materials which (4) “V2 Grasping Test.mp4:” This video file includes
include the following: examples of our grasping tests, such as selected
gestures from the 33 grasp types defined in Feix
(1) “Deformation Data.xlsx:” This file records the et al., and grasping objects with different approaching
deformation tests of the tissue layer with various methods (top approach/side approach).
configurations, such as different thicknesses (5) “V3 Ablation Study on Tissue.mp4:” This video file
with and without supports and other 3D printing includes the ablation studies on the proposed tissue
materials. layer, including picking a tiny object (a screw cap,
(2) “Maya Script.zip:” This file includes the python fingertip caging), and the repeat tests of several
scripts of creating the bones and the tissue layer of grasp gestures (with and without the tissue layer).
the proposed design. Our generated 3D models are (6) “V4 3D Modeling Process.mp4:” This video file
included as well. demonstrates how to run the python scripts to obtain
(3) “V1 Demonstration.mp4:” This video file summarizes the 3D models of the proposed hand.
the design, fabrication, and a few experimental results (7) “V5 Assembly.mp4:” This video file records the
of the proposed design. complete process of assembling our 3D printed hand.

Contact author(s) if you have troubles accessing the supplemental materials. These materials are available on
reasonable request.

Preprint history

A pre-print version of this article is available at https://
arxiv.org/abs/2011.03742

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