biostudies-literatureZhang NChina Postdoctoral Science FoundationScience and Technology Commission of Shanghai Municipality (Shanghai Municipal Science and Technology Commission)National Natural Science Foundation of China (National Science Foundation of China)2395https://www.ebi.ac.uk/biostudies/studies/S-EPMC11894155biostudies-literatureUnknown16(1)Soft robotic hands with integrated sensing capabilities hold great potential for interactive operations. Previous work has typically focused on integrating sensors with fingers. The palm, as a large and crucial contact region providing mechanical support and sensory feedback, remains underexplored due to the currently limited sensing density and interaction with the fingers. Here, we develop a sensorized robotic hand that integrates a high-density tactile palm, dexterous soft fingers, and cooperative palm-finger interaction strategies. The palm features a compact visual-tactile design to capture delicate contact information. The soft fingers are designed as fiber-reinforced pneumatic actuators, each providing two-segment motions for multimodal grasping. These features enable extensive palmNature communicationsSoft robotic hand with tactile palm-finger coordination.PMC1189415524511103400520250572022M72208591948302Yang XBian RLi JDong YRen JGu GZhang NZhu XfalseSoft robotic hand with tactile palm-finger coordination.Soft robotic hands with integrated sensing capabilities hold great potential for interactive operations. Previous work has typically focused on integrating sensors with fingers. The palm, as a large and crucial contact region providing mechanical support and sensory feedback, remains underexplored due to the currently limited sensing density and interaction with the fingers. Here, we develop a sensorized robotic hand that integrates a high-density tactile palm, dexterous soft fingers, and cooperative palm-finger interaction strategies. The palm features a compact visual-tactile design to capture delicate contact information. The soft fingers are designed as fiber-reinforced pneumatic actuators, each providing two-segment motions for multimodal grasping. These features enable extensive palm2025-01-01T00:00:00Z2025 Mar2025-04-04T20:25:18.096Z2025-04-04T20:25:18.096ZS-EPMC118941554006494410.1038/s41467-025-57741-6