The Educational SoftHand-A is built and controlled entirely from standard LEGO® pieces and features a highly underactuated antagonistic tendon mechanism with adaptivity from soft synergies.
1. Lepora, J. K., et al. (2025). Educational SoftHand-A: Building an Anthropomorphic Hand with Soft Synergies using LEGO MINDSTORMS. arXiv. https://doi.org/p983