  For tendon-driven multi-fingered robotic hands, ensuring grasp adaptability
while minimizing the number of actuators needed to provide human-like
functionality is a challenging problem. Inspired by the Pisa/IIT SoftHand, this
paper introduces a 3D-printed, highly-underactuated, five-finger robotic hand
named the Tactile SoftHand-A, which features only two actuators. The
dual-tendon design allows for the active control of specific (distal or
proximal interphalangeal) joints to adjust the hand's grasp gesture. We have
also developed a new design of fully 3D-printed tactile sensor that requires no
hand assembly and is printed directly as part of the robotic finger. This
sensor is integrated into the fingertips and combined with the antagonistic
tendon mechanism to develop a human-hand-guided tactile feedback grasping
system. The system can actively mirror human hand gestures, adaptively
stabilize grasp gestures upon contact, and adjust grasp gestures to prevent
object movement after detecting slippage. Finally, we designed four different
experiments to evaluate the novel fingers coupled with the antagonistic
mechanism for controlling the robotic hand's gestures, adaptive grasping
ability, and human-hand-guided tactile feedback grasping capability. The
experimental results demonstrate that the Tactile SoftHand-A can adaptively
grasp objects of a wide range of shapes and automatically adjust its gripping
gestures upon detecting contact and slippage. Overall, this study points the
way towards a class of low-cost, accessible, 3D-printable, underactuated
human-like robotic hands, and we openly release the designs to facilitate
others to build upon this work. This work is Open-sourced at
github.com/SoutheastWind/Tactile_SoftHand_A
