FORTE Finger Hardware Manual

Overview

FORTE Fingers are compliant fingers with internal air channels for tactile sensing, developed as part of FORTE: Tactile Force and Slip Sensing on Compliant Fingers for Delicate Manipulation. Created by Siqi Shang and Mingyo Seo, FORTE aims to democratize and advance robotic manipulation in the robot learning community by open-sourcing its modular hardware design.

We currently provide fingers adapted for the LEGATO Gripper from this open-source project. You can replace the Finger Tips and Finger Links from the original LEGATO Gripper design.

Bill of Materials

Here is the list of off-the-shelf parts required to assemble one pair of fingers. Although ISO bolts from McMaster-Carr are specified in this list, any compatible bolts may be used as alternatives.

Other than the above components, the following 3D-printing materials are required to assemble one pair of fingers. The table below provides example items, but any compatible alternatives may be used.

3D-printing Parts

Here is the list of 3D-printed parts required to assemble one set of shared gripper components, along with optional handles for robots and a human demonstrator. The upper section of the table specifies the 3D-printed parts needed for the shared gripper components.

Citation

      @misc{shang2025forte,
        title={FORTE: Tactile Force and Slip Sensing on Compliant Fingers for 
          Delicate Manipulation},
        author={Shang, Siqi and Seo, Mingyo and Zhu, Yuke and Chin, Lillian},
        year={2025}
        eprint={2506.18960},
        archivePrefix={arXiv},
        primaryClass={cs.RO}
      }