DexLink Hand：一款紧凑、经济、16自由度连杆驱动且具有类人灵巧性的手部
DexLink Hand: A Compact, Affordable, 16-DOF Linkage-Driven Hand with Human-Like Dexterity
AI总结：
提出一种紧凑、低成本的连杆驱动仿人手，通过混合平面与空间连杆机构实现16个独立驱动、20个关节的高灵巧性，重320g、成本低于400美元，达到最大Kapandji评分并复现全部33种Feix抓取类型。
摘要：
灵巧机器人手在灵巧性、紧凑性和经济性之间长期面临权衡。特别是，高自由度设计通常需要复杂的驱动和传动，阻碍了其集成到人形尺寸中。为解决这些挑战，本文提出一种紧凑、低成本的连杆驱动仿人手，实现了高灵巧性、结构集成和类人手功能。该手集成了由16个独立驱动器驱动的20个关节，所有驱动、传感和传动组件紧凑地嵌入人手大小的结构中。最终原型仅重320g，总成本低于400美元。为实现这些目标，提出了一种结合平面和空间连杆机构的混合机械架构，实现了解耦的多向运动、仿生关节协同和高被动承载能力。拇指进一步采用了支持类人重构和对掌运动的仿生特征。通过这些机构和结构布局的协调集成，原型实现了具有仿生灵巧性的高度集成设计。实验评估表明，该手达到了最大Kapandji评分，复现了所有33种Feix抓取类型，并在多种日常物品和工具上实现了稳定抓取和灵巧操作。这些结果验证了所提出的手作为面向以人为中心环境中灵巧操作、遥操作和机器人学习的低成本、紧凑且机械高效的平台。
英文摘要：
Dexterous robotic hands face a longstanding trade-off among dexterity, compactness, and affordability. Particularly, high-degree-of-freedom designs typically demand complex actuation and transmission, hindering integration into human-scale forms. To address these challenges, this work presents a compact, low-cost linkage-driven anthropomorphic hand that achieves high dexterity, structural integration, and human-hand-like functionality. The hand integrates 20 joints driven by 16 independent actuators, with all actuation, sensing, and transmission components compactly embedded within a human-hand-sized structure. The resulting prototype weighs only 320g at a total cost below USD 400. To meet these objectives, a hybrid mechanical architecture combining planar and spatial linkage mechanisms is proposed, enabling decoupled multidirectional motion, biomimetic joint synergies, and high passive load-bearing capability. The thumb further incorporates biomimetic features supporting human-like reconfiguration and opposition movements. Through the coordinated integration of these mechanisms and structural layout, the prototype achieves a highly integrated design with anthropomorphic dexterity. Experimental evaluations demonstrate that the hand achieves the maximum Kapandji score, reproduces all 33 Feix grasp types, and performs stable grasping and dexterous manipulation across a wide variety of daily objects and tools. These results validate the proposed hand as an affordable, compact, and mechanically efficient platform for dexterous manipulation, teleoperation, and robot learning in human-centered environments.
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。
