RAPID Hand 原型：一款用于灵巧遥操作的低成本、全驱动仿生手设计
RAPID Hand Prototype: Design of an Affordable, Fully-Actuated Biomimetic Hand for Dexterous Teleoperation
AI总结：
本文提出低成本 20-DoA 全驱动五指 RAPID Hand 原型，采用拟人化驱动传动、优化电机布局与 3D 打印结构，并通过三类遥操作任务验证其灵巧操作潜力。
摘要：
本文针对可负担的全驱动五指灵巧手稀缺这一问题展开研究；这类手对于在“从演示中学习”范式下采集大规模真实机器人数据至关重要。我们介绍了 RAPID Hand 的原型版本，这是首款低成本、20 驱动自由度（DoA）灵巧手，它将新型拟人化驱动与传动方案同优化后的电机布局和结构设计相结合，以提升灵巧性。具体而言，RAPID Hand 为非拇指手指采用通用指骨传动方案，并配备全向拇指驱动机构。在优先考虑可负担性的前提下，该手使用 3D 打印部件并结合定制齿轮，以便更换和维修。我们通过定量指标以及灵巧遥操作系统中的定性测试评估 RAPID Hand 的性能；该系统在三项具有挑战性的任务上接受评测：多指取物、操作长柄勺以及拟人化弹钢琴。结果表明，RAPID Hand 的全驱动 20-DoF 设计在灵巧遥操作方面具有显著前景。
英文摘要：
This paper addresses the scarcity of affordable, fully-actuated five-fingered hands for dexterous teleoperation, which is crucial for collecting large-scale real-robot data within the "Learning from Demonstrations" paradigm. We introduce the prototype version of the RAPID Hand, the first low-cost, 20-degree-of-actuation (DoA) dexterous hand that integrates a novel anthropomorphic actuation and transmission scheme with an optimized motor layout and structural design to enhance dexterity. Specifically, the RAPID Hand features a universal phalangeal transmission scheme for the non-thumb fingers and an omnidirectional thumb actuation mechanism. Prioritizing affordability, the hand employs 3D-printed parts combined with custom gears for easier replacement and repair. We assess the RAPID Hand's performance through quantitative metrics and qualitative testing in a dexterous teleoperation system, which is evaluated on three challenging tasks: multi-finger retrieval, ladle handling, and human-like piano playing. The results indicate that the RAPID Hand's fully actuated 20-DoF design holds significant promise for dexterous teleoperation.
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。
