%ABauer, Dominik%ABauer, Cornelia%AKing, Jonathan%AMoro, Daniele%AChang, Kai-Hung%ACoros, Stelian%APollard, Nancy%Anull Ed.%BJournal Name: International Journal of Humanoid Robotics; Journal Volume: 17; Journal Issue: 01 %D2020%I %JJournal Name: International Journal of Humanoid Robotics; Journal Volume: 17; Journal Issue: 01 %K %MOSTI ID: 10201824 %PMedium: X %TDesign and Control of Foam Hands for Dexterous Manipulation %XThere has been great progress in soft robot design, manufacture, and control in recent years, and soft robots are a tool of choice for safe and robust handling of objects in conditions of uncertainty. Still, dexterous in-hand manipulation using soft robots remains a challenge. This paper introduces foam robot hands actuated by tendons sewn through a fabric glove. The flexibility of tendon actuation allows for high competence in utilizing deformation for robust in-hand manipulation. We discuss manufacturing, control, and design optimization for foam robots and demonstrate robust grasping and in-hand manipulation on a variety of different physical hand prototypes. %0Journal Article