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.
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