Abstract
Fingertips and Fingercushions are very important equipments in human hand for handling minute objects, therefore imitating these equipments can lead humanoid hand to improving dexterity. In this paper, dexterity of pinching and rolling minute objects is brought by explicit designing of the tips of fingers and tactile sensors by pressure conductive gum on fingercushions. Finally, we actually show tasks of pinching and rolling minute bolt by new hand.
