BiDexHand: Design and Evaluation of an Open-Source 16-DoF Biomimetic Dexterous Hand
Fuente:
arXiv
Enregistré dans:
| Auteur principal: | |
|---|---|
| Format: | Preprint |
| Publié: |
2025
|
| Sujets: | |
| Accès en ligne: | |
| Tags: |
Ajouter un tag
Pas de tags, Soyez le premier à ajouter un tag!
|
| _version_ | 1866914074179141632 |
|---|---|
| author | Weng, Zhengyang Kris |
| author_facet | Weng, Zhengyang Kris |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2504_14712 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | BiDexHand: Design and Evaluation of an Open-Source 16-DoF Biomimetic Dexterous Hand Weng, Zhengyang Kris Robotics 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. |
| title | BiDexHand: Design and Evaluation of an Open-Source 16-DoF Biomimetic Dexterous Hand |
| topic | Robotics |
| url | https://arxiv.org/abs/2504.14712 |