发表机构
UCLA（加州大学洛杉矶分校）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
针对灵巧操作受手部硬件限制的问题，提出低成本开源的MIDAS手，有16个自由度，直接驱动且回驱扭矩低，集成触觉传感，发布完整堆栈，经多种测试分析，为触觉灵巧操作和人机数据收集提供平衡可重复平台。
AI 中文摘要
灵巧操作不仅受算法限制，还受可及手部硬件短缺的限制，现有灵巧手往往顾此失彼。我们提出了MIDAS手，这是一种低成本、开源、具有集成触觉传感的拟人灵巧手用于操纵研究。它有16个自由度，13个主动自由度，直接驱动且回驱扭矩低，283个三轴触觉传感器，重700克，材料成本低于3000美元，由3D打印部件制成，组装不到三小时。同时还发布了完整堆栈。通过多种分析和测试表明它为触觉灵巧操作和人机数据收集提供了平衡、可重复的平台。
英文摘要
Dexterous manipulation is limited not only by algorithms but by a shortage of accessible hand hardware that combines human-scale morphology, ease of manufacturing or maintenance, tactile sensing, and practical cost. Existing dexterous hands tend to optimize some of these properties at the expense of others. We present MIDAS Hand, a low-cost, open-source, human-scale dexterous hand with integrated tactile sensing for manipulation research. MIDAS Hand provides 16 total degrees of freedom (DoF) with 13 active DoF, directly driven actuation with measurably low backdrive torque, and 283 three-axis tactile taxels in a compact 700 g package with a bill of materials under 3,000 USD. Built from 3D-printed components, it assembles in under three hours while providing the strength, repeatability, and maintainability needed for repeated real-world experiments. Alongside the hardware, we release a full stack: design files, build documentation, control and tactile Python APIs, simulation models, and retargeting and teleoperation pipelines. We characterize MIDAS Hand through workspace and grasp-taxonomy analysis, payload and reliability tests, backdrivability measurements, and teleoperation demonstrations with tactile sensing, showing that it offers a balanced, reproducible platform for tactile dexterous manipulation and human-to-robot data collection. Project page: https://midas-hand.com
