ISR-Softhand is composed of Soft Fingers with elastic joints, rather than the traditional revolute  ones. Moreover ,  soft fingers embed elastomeric pads, that provide a large contact area and an anti slippage behavior due to their high friction coeefficient.

With only 3 actuators, the 3D printed ISR-Softhand is able to achieve 31 grasp forms out of the 33 that humans perform in their daily activity.