BiDexHand：一款开源16自由度仿生灵巧手的设计与评估
BiDexHand: Design and Evaluation of an Open-Source 16-DoF Biomimetic Dexterous Hand
AI总结：
针对机器人手实现类人灵巧性的难题，研究团队提出开源16自由度绳驱动仿生手BiDexHand，经多类测试验证其出色抓取与负载能力，可助力机器人研究社区获取先进操作技术。
摘要：
在机器人手中实现人类级别的灵巧性，仍是支撑多样化应用中通用操作的一项核心挑战。本扩展摘要介绍了BiDexHand，这是一款绳驱动仿生机器人手，兼具类人灵巧性与易实现、高效率的机械设计。该机器人手具备16个独立驱动自由度，通过可复现自然手指运动的新型指节设计，还设有5个机械耦合关节。性能验证显示，它成功完成了GRASP Taxonomy（抓取分类体系）中全部33种抓取类型，通过了Kapandji拇指对掌测试11个位置中的9个，测得指尖力为2.14N，还具备举起10磅重物的能力。作为支持包括视觉遥操作在内多种控制模式的开源平台，BiDexHand旨在为更广泛的机器人研究社区普及先进操作能力的获取渠道。
英文摘要：
Achieving human-level dexterity in robotic hands remains a fundamental challenge for enabling versatile manipulation across diverse applications. This extended abstract presents BiDexHand, a cable-driven biomimetic robotic hand that combines human-like dexterity with accessible and efficient mechanical design. The robotic hand features 16 independently actuated degrees of freedom and 5 mechanically coupled joints through novel phalange designs that replicate natural finger motion. Performance validation demonstrated success across all 33 grasp types in the GRASP Taxonomy, 9 of 11 positions in the Kapandji thumb opposition test, a measured fingertip force of 2.14\,N, and the capability to lift a 10\,lb weight. As an open-source platform supporting multiple control modes including vision-based teleoperation, BiDexHand aims to democratize access to advanced manipulation capabilities for the broader robotics research community.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
