arXiv cs.AI· Neel Adwani, Muhaiminul Islam Akash, Saffia Ouali, Ethan Liu, Cong Wang·· 13 小时前AI 评分36
PHD-Hand：可用 3D 打印制造、每指 3 个驱动自由度的连杆驱动仿人灵巧手
PHD-Hand: A Printable Humanoid Dexterous Hand with Linkage-Driven 3-DOA Digits
AI 导读
PHD-Hand 是一款完全连杆驱动的仿人灵巧手，每根手指具备 3 个驱动自由度（DOA），借助柔性铰链与弹簧钢弹性驱动杆大幅简化传动结构，无需大量微型运动部件，可用低成本 3D 打印机直接制造，尺寸也更接近真人手。原型已完成抓取与物体操作评估，论文还给出运动学与控制方面的最新结果，该工作已被 Humanoids 2026 接收。
正文 · 原文
Abstract:Currently, dexterous humanoid robot hands are widely considered the final hardware bottleneck that hampers generalist robots from physically assisting people at home and work. As conventional tendon-driven designs suffer from high cost, demanding maintenance, poor reliability, and short durability, alternative linkage-driven designs have increasingly gained attention. Despite their potential to avoid the weaknesses of tendon-driven hands, integrating multiple degrees of actuation (DOA) in a single digit with linkage drivetrains is a challenge for design and fabrication. Only a few studies have managed to present functional humanoid hands that are completely linkage-driven and have at least three DOAs per digit without compromising actuator placement and other design preferences. Our work introduces a new linkage-driven hand featuring a unique flexure hinge. Together with elastic drive rods made of spring steel, the linkage drivetrains are significantly simplified. Unlike other linkage-driven designs of similar dexterity, our design does not require many miniature moving parts. As a result, the hand can be fabricated easily with a budget 3D printer. This not only significantly lowers the barrier to entry for using and developing dexterous humanoid robot hand functions, but also allows the hands to be sized much closer to regular human hands. The design offers desirable kinematic advantages as well. A prototype is evaluated for grasping and object manipulation. In addition, this paper presents our latest findings on kinematics and control of the hand.
| Comments: | Submitted and Accepted at IEEE-RAS International Conference on Humanoid Robots (Humanoids 2026). 8 pages. Supplementary video: this https URL |
| Subjects: | Robotics (cs.RO); Artificial Intelligence (cs.AI) |
| Cite as: | arXiv:2610.29030 [cs.RO] |
| (or arXiv:2610.29030v1 [cs.RO] for this version) | |
| https://doi.org/10.48550/arXiv.2610.29030 arXiv-issued DOI via DataCite (pending registration) |
Submission history
From: Neel Adwani [view email]
[v1]
Wed, 21 Oct 2026 01:01:57 UTC (1,530 KB)
来源：arXiv cs.AI · arxiv.org